Skip to content

Latest commit

 

History

History
70 lines (49 loc) · 1.95 KB

README_EN.md

File metadata and controls

70 lines (49 loc) · 1.95 KB
Raw

Vins Course

Build Status

Authors: He Yijia, Gao Xiang, Cui huakun, Zhao Song

Introduction： This project is used for an online course about visual inertial odometry on shenlanxueyuan. She is based on the VINS-Mono framework but does not rely on ROS, Ceres, G2o. This code is very basic and aims to demonstrate Eigen-based back-end LM algorithms, sliding window algorithms, robust kernel functions, etc. This code supports for Ubuntu or Mac OS.

Prerequisites：

  1. pangolin: https://github.com/stevenlovegrove/Pangolin

  2. opencv

  3. Eigen

  4. Ceres. Uhhhhh, vins-mono use ceres to do sfm bundle adjustment. So we need ceres.

Build

mkdir vins_course
cd vins_course
git clone https://github.com/HeYijia/VINS-Course
mkdir build 
cd build
cmake ..
make -j4

Run

1. CurveFitting Example to Verify Our Back-End Solver.

cd build
../bin/testCurveFitting

2. VINs-Mono on Euroc Dataset

cd build
../bin/run_euroc /home/dataset/EuRoC/MH-05/mav0/ ../config/

vins

3. VINs-Mono on Simulation Dataset (project homework)

you can use this code to generate vio data.

https://github.com/HeYijia/vio_data_simulation

4. Validation Results

evo package

evo_ape euroc euroc_mh05_groundtruth.csv pose_output.txt -a -p

results

Licence

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Yijia He [email protected] , Xiang Gao https://github.com/gaoxiang12 or Huakun Cuihttps://github.com/StevenCui.

For commercial inquiries, please contact Song Zhao [email protected]

Acknowledgements

We use VINS-Mono as our base line code. Thanks Dr. Qin Tong, Prof. Shen etc very much.