How to use Intel Realsense calibrated data in this particular usecase?

[ShreyasKuntnal]

I have completely implemented H2-Mapping on my PC with 4070 GPU. I have calibrated intel realsense (D435i) colour camera following Patrick Geneva sensor calibration guide.
I got YAML file which contains this info of IMU calibration and camera calibration
IMU:

camera:
camera_imu_calib3-report-imucam.pdf

Then I processed these camera and IMU data to vins format using kalib2vins package.

Finally, I got these below data:
cam0.yaml:

vins_config.yaml:

But dvins/config/ folder has mutiple config files and they have extrinsic transformation and extrinsic rotation tags.
So, how to use these OpenCV matrix in the above vins?

[ShreyasKuntnal]

@JIANG-CX Can you please help with this issue?

[JIANG-CX]

hi, I am dealing some urgent things currently. I will response your questions next week as soon as possible. 获取 Outlook for iOS<https://aka.ms/o0ukef>

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________________________________ 发件人: Shreyas K ***@***.***> 发送时间: Friday, July 5, 2024 3:15:07 PM 收件人: SYSU-STAR/H2-Mapping ***@***.***> 抄送: JIANG Chenxing ***@***.***>; Mention ***@***.***> 主题: Re: [SYSU-STAR/H2-Mapping] How to use Intel Realsense calibrated data in this particular usecase? (Issue #41) @JIANG-CX<https://github.com/JIANG-CX> Can you please help with this issue? ― Reply to this email directly, view it on GitHub<#41 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/APMKKNWIGDBZSARIOCDSOETZKZBXXAVCNFSM6AAAAABKK4CEPCVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDEMJQGMZDQMJSGU>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[ShreyasKuntnal]

Hi, Can you please look into above issue?

[JIANG-CX]

You can follow https://github.com/HKUST-Aerial-Robotics/VINS-Mono?tab=readme-ov-file#5-run-with-your-device to write your own config, and change the "config_path" in the uav_nerf.launch