Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Running VIO with own camera and IMU data + acquiring the pose #227

Open
scode-cmd opened this issue Feb 12, 2024 · 3 comments
Open

Running VIO with own camera and IMU data + acquiring the pose #227

scode-cmd opened this issue Feb 12, 2024 · 3 comments

Comments

@scode-cmd
Copy link

Hello,

This questions might seem silly, but i've been banging my head against the wall trying to figure it out. Basically, I want to create a VIO stereo pipline that takes camera images + IMU data acquired in realtime, and not from a dataset, then get the 3d poses from the resulting calculation. I'm not using ROS and not intending to use it.

  1. Do I need custom data provider in that case?
  2. After we spin the VIO pipline with our own (synchronized) data, how do we acquire the latest 3d pose from the VIO pipline? I'm having hard time understanding the interaction between frontend and backend.
@tbrayer2
Copy link

I've been straggling too. For simplicity - I also prepared a sequence with Carla simulator, where I have a full control over everything. I put the camera and IMU at the exact same location with the same orientation, yet - I can't even execute it on this synthetic sequence.

@zippyzoo77
Copy link

zippyzoo77 commented Jul 3, 2024

Any luck on this for either of you so far? I'm having troubles with the ROS portion producing garbage results, and am hoping to do something similar to what you're talking about (aka remove the ROS part that isn't working). I think I will need a custom data provider, I'm just not sure how to start on getting it to loop properly each time an image/batch of imu measurements is put into the queue rather than expecting a static dataset.

@tbrayer2
Copy link

tbrayer2 commented Jul 9, 2024 via email

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

3 participants