External IMU to help mean sea plane transformation

[gitRonang]

Hello,
In trying to adapt WASSFast for use on a mobile vessel, I have access to IMU information (Euler Angles or pitch/roll/yaw).
Initially, I tried straightening my images on the fly before processing them in WASSFast (inconclusive).
I wonder if it is possible to integrate this when transforming the point cloud to the mean sea plane? (figure)
If so, would you have any idea of the modifications required?
Ronan

[huangya17]

Hi Ronan,

load_camera_mesh_and_align_plane.m modifies the R and T matrices for rotation and translation of the mean sea plane. You may subtract the IMU orientation data there. But this is part of the original WASS, not the FAST version.

On a separate note, have you tried to use matlab to run the wass pipeline i.e. run_wass.m? This means you don't need to compile each of the executables locally.

Kind regards,

Ya

[gitRonang]

Thank's for your reply.
You are correct I think I have to directly update R & T matrix according to IMU data.
However, for your next question, I don't use WASS with matlab sorry.

KR

Ronan