Live streaming video to dm-vio from a raspberry pi camera about dm-vio HOT 3 OPEN

Hi, you can use a ROS node for Raspberry Pi camera module (https://github.com/dganbold/raspicam_node), which lets you publish your image data in ROS message format. In order to subscribe to them, use DM-VIO ROS wrapper (https://github.com/lukasvst/dm-vio-ros).

from dm-vio.

Thanks for your answer. I'm trying to avoid using ROS, is there another way of doing this? I have access to each of the images coming from the livestream by using OpenCV, how can I feed these images into dm-vio?

from dm-vio.

You can write your own executable, similar to the ROS wrapper or the RealsenseLiveDemo: https://github.com/lukasvst/dm-vio/blob/master/src/main_dmvio_t265.cpp
You just need to feed the images and IMU data into the IMUInterpolator, see https://github.com/lukasvst/dm-vio/blob/master/src/live/RealsenseT265.cpp#L151 https://github.com/lukasvst/dm-vio/blob/master/src/live/RealsenseT265.cpp#L169 and https://github.com/lukasvst/dm-vio/blob/master/src/live/RealsenseT265.cpp#L211

from dm-vio.