Hi there, yes, unfortunately the repo for OpenVINS is still under construction as it's under active development by the ModalAI team. We'll have it available soon
voxl-open-vins-server does a similar process to the ROS implementation when using camera data--in order to sync frames, data comes in a stereo-type packet. During camera calibration, instead of Kalibr, we are using our own voxl-calibrate-camera
implementation that comes with the SDK. And as needed, one can turn off the stereo output in voxl-camera-server and calibrate each camera individually. That would be best on the ROS side as well where you can use split the images from camera-server like this before publishing to Kalibr (where 2 topics work best for openvins), then calibrate independently.
You could try voxl-calibrate-camera instead and yes it will output opencv-format intrinsics where you can copy the needed values into the ROS launch file. We create extrinsics using mechanical design. In both cases, OpenVINS will refine them at runtime during the first few seconds of operation.
You can upgrade to the latest dev version via editing your /etc/apt/sources.list.d/modalai.list
on voxl2 to point to the dev repo. Then run apt update && apt upgrade voxl-open-vins-server
. Looking at the /etc/modalai/voxl-open-server.conf may give you some ideas on how the roslaunch file can be setup as well.