kalibr2vins

kalibr2vins is a tool for converting kalibr results to vins-fusion configurations

Usage:

1. Calibrate the cameras by following this tutorial

2. Install kalibr2vins

   • Uses python3-poetry
   • cd kalibr2vins; poetry install
   • Run commands in poetry shell.

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

4. run vins-fusion with generated configuration

   • Configs are generated in kalibr2vins/vins_config/