Andrey Penkovskiy
Andrey Penkovskiy
For example, you can use ROS and PCL library for this purpose. Just use functions `GetCurrentMap()` and `GetMapPoints()`, it will give a set of landmarks. Which can be then converted...
IMU data with 49 Hz is a low frequency itself. ORB-SLAM3 requires at least 100 Hz for IMU data stream as mentioned [here](https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/210). What is more important, when you have...
There might be several reasons why those log messages occur: 1) IMU data stream issues. Check device hardware connection and IMU data frequency. Also, check if the units of IMU...
Rectification is done to transform images to the same image plane and required where there are more than one camera. Points from one fisheye to another can be converted using...
It's already fixed. See the following code in `estimator.cpp` : ``` ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity(); ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity(); ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5...
Regarding AprilGrids, sometimes the problem lies not in incorrect configuration written in .yaml, but in wrong ID assignment issues. Here assumed that IDs are starting with 0: https://github.com/ethz-asl/kalibr/blob/1f60227442d25e36365ef5f72cd80b9666d73467/aslam_cv/aslam_cameras_april/src/GridCalibrationTargetAprilgrid.cpp#L132 As a...
> I would like to ask is my understanding correct or I miss sth? In my opinion, they use `opacity` and gradient masks to reduce the impact of immature splats...
> how the jacobian gradient is comunicated between the rasterizer and the optimizer I think it's defined by the order in which the input tensors are specified when calling `forward`....
For me, the following steps worked: 1. Build TBB inside `elibs/tbb` folder 2. Make it accessible for `mvs-texturing` using `make install` 3. Remove the `mvs-texturing`'s build folder and rebuild
Based on angular velocities error plot, IMU model doesn't cover the sensor noise; Same about acceleration bias. I would try to increase the values of these noises and try again....