https://github.com/alploskov/kalibr2vins

Translate kalibr config to vins-fusion config
https://github.com/alploskov/kalibr2vins

kalibr slam vins vins-fusion

Last synced: 3 months ago
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Translate kalibr config to vins-fusion config

• Host: GitHub
• URL: https://github.com/alploskov/kalibr2vins
• Owner: alploskov
• License: mit
• Created: 2024-02-10T21:07:11.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2024-06-13T13:58:40.000Z (7 months ago)
• Last Synced: 2024-10-10T18:26:33.801Z (3 months ago)
• Topics: kalibr, slam, vins, vins-fusion
• Language: Python
• Homepage:
• Size: 15.6 KB
• Stars: 3
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# kalibr2vins

[![GitHub license](https://img.shields.io/badge/license-MIT-blue.svg)](https://github.com/alploskov/kalibr2vins/blob/master/LICENSE.txt)

[![Hits-of-Code](https://hitsofcode.com/github/alploskov/kalibr2vins?branch=main)](https://hitsofcode.com/github/alploskov/kalibr2vins/view?branch=main)

**kalibr2vins** is a tool for converting [kalibr](https://github.com/ethz-asl/kalibr) results to [vins-fusion](https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) configurations

## Usage:

1. Calibrate the cameras by following this [tutorial](https://github.com/ethz-asl/kalibr/wiki/calibrating-the-vi-sensor)

2. Install kalibr2vins

3. run `kalibr2vins --cameras-conf dataset-camchain-imucam.yaml --imu-conf dataset-imu.yaml`

4. run vins-fusion with generated configuration