koide3

Here is the camera models that computes projection and lens distortion: https://github.com/koide3/direct_visual_lidar_calibration/tree/main/include/camera

It doesn't generate rectified images explicitly but does project and undistort 3D object points on the image space via the following function: https://github.com/koide3/direct_visual_lidar_calibration/blob/d29fec3d6efe4d45e1f07e61615500977376d83d/include/camera/pinhole.hpp#L41

You can use infrared information instead; infrared images share the same optical frame as that of depth images. The NID metric should work as long as there is mutual information...

Maybe you need to type the filename in the `Name` input box?

Please also try `sudo apt install zenity kdialog`.

Possibly, you forgot using the dynamic points integrator. Please see https://koide3.github.io/direct_visual_lidar_calibration/example/#ouster-camera-calibration

I think such a mask can be implemented by modifying the [NIDCost](https://github.com/koide3/direct_visual_lidar_calibration/blob/e110ca230e9e262a93d7b2f90c2d498dbc970e71/include/vlcal/costs/nid_cost.hpp#L23) class that measures the normalized information distance between a point cloud and an image. BTW, I suppose just...

Thanks for the detailed report and the PR for fixing the intensity read! I'll check it next week and find a way to fix the `odom_stamps` issue.

Thanks for reporting the issue. Yes, it should use `imu_cursor` instead of `i`. I'll fix it soon. Fortunately, this bug should only have a small impact because `sum_acc_odom` is used...

I just merged a PR to fix this issue https://github.com/koide3/glim/pull/119. Thanks again for your report.