Building ROVIOLI-VIO with minimal set of dependencies

[leocencetti]

I am trying to use ROVIOLI in pure VIO mode: is it possible to build ROVIOLI without having to build the entire set of maplab dependencies (72 of them)? Is there a minimal set that would suffice for the VIO part?

[smauq]

If you want to just do VIO then I suggest you don't look at ROVIOLI since that is meant to include localization. Instead go to this repo https://github.com/ethz-asl/rovio which is just the VIO EKF filter ROVIO from the original paper. ROVIOLI wraps code around that for localization which adds indeed more dependencies.