Comments (3)
Hello. Thank you!
The "baseline" (which is defined here) appears because the elements
It should definitely be possible to extend the code to support equirectangular images, but it may be rather complicated in practice and we do not really offer any support for that. One potential pitfall is the use of "normalized image coordinates" in some of the EKF update equations, which probably won't work with equirectangular data. So you would have to reformulate those equations to use bearing vectors instead.
We also cannot guarantee to offer any kind of practical support for this, unfortunately.
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Thanks a lot! It's my fault that i thought the pose is defined in camera as it is called as 'CameraPose'. Now, i got it. Thanks you!!
Besides, i have done the work you talked about as i found the norimalized coordinates used in hybridvio can't express points 'behind' equirectangular 'lens', where bearing vector could. As soon as i finished my work, i would like to show you the result.
Finally, i wish to ask for advice about the calibration of extrinsics between equirectangular 'lens' and imu(i got the data from a gopro-max). I have two ideas. One is to modify kalibr to support such calibration. The other is to trans equirectangular into cubemaps and use the front pinhole images to calibrate extrinsics between lens and imu. But i wonder if the result make sense in such method?
Thank for your beautiful hybrid-vio!It actually works better than orbslam3, vins-fusion, okvis on my insta360 camera in mono mode.
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Related Issues (20)
- Question about parameter visualR HOT 1
- Question about the world to local quaternion
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- Recreating Online Arxiv Paper Results for TUM-VI HOT 4
- KERNEL.HASWELL file missing? HOT 3
- Most Faithful Real-time Settings HOT 2
- Question about the input data. HOT 1
- Question about the paper HOT 1
- Problem with the dy/dx in the predict function? HOT 4
- Question about the parameters HOT 4
- Question about distortion coefficients HOT 1
- Question about triangulateLinear HOT 1
- Question about jacobian in triangulation HOT 1
- Can't compile on any of the systems HOT 2
- question about the processing queues HOT 1
- visualUpdateForEveryNFrame Quality Worse Than Skipping Entire Frame HOT 2
- Problem with triangulation【More importantly about how to understand PIVO】? HOT 2
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