Photogrametry tool!

[zeeshanns]

I want to express my appreciation for making the SOAR project open source. I have some specific questions regarding the simulation and 3D reconstruction pipeline:

For data collection during simulation:
1. Which specific ROS topics should I record/store to later use with RealityCapture?
What format does RealityCapture expect for the pose data and images?
2. Is there a specific post-processing step needed to convert the simulation data to RealityCapture's format?

Regarding the rendering pipeline:
1. I notice Marsim with Blender is used for rendering. Could you provide guidance on the exact workflow?
2. Is it possible to use Gazebo instead of Blender for the same purpose? If yes, what modifications would be needed?
For the GPU acceleration:

I see there's a "use_gpu" parameter in the launch files. Does this affect only MARSIM or also the image generation process?

[Chen-Albert-FENG]

For usage of Blender and RealityCapture, you can refer to https://github.com/HKUST-Aerial-Robotics/FC-Planner/tree/master/FC-Planner/vis_tool.