# README #
This repository contains the ROVIO (Robust Visual Inertial Odometry) framework. The code is open-source (BSD License). Please remember that it is strongly coupled to on-going research and thus some parts are not fully mature yet. Furthermore, the code will also be subject to changes in the future which could include greater re-factoring of some parts.
Video: https://youtu.be/ZMAISVy-6ao
Papers:
* http://dx.doi.org/10.3929/ethz-a-010566547 (IROS 2015)
* http://dx.doi.org/10.1177/0278364917728574 (IJRR 2017)
Please also have a look at the wiki: https://github.com/ethz-asl/rovio/wiki
### Install without opengl scene ###
Dependencies:
* ros
* kindr (https://github.com/ethz-asl/kindr)
* lightweight_filtering (as submodule, use "git submodule update --init --recursive")
```
#!command
catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release
```
### Install with opengl scene ###
Additional dependencies: opengl, glut, glew (sudo apt-get install freeglut3-dev, sudo apt-get install libglew-dev)
```
#!command
catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON
```
### Euroc Datasets ###
The rovio_node.launch file loads parameters such that ROVIO runs properly on the Euroc datasets. The datasets are available under:
http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
### Further notes ###
* Camera matrix and distortion parameters should be provided by a yaml file or loaded through rosparam
* The cfg/rovio.info provides most parameters for rovio. The camera extrinsics qCM (quaternion from IMU to camera frame, Hamilton-convention) and MrMC (Translation between IMU and Camera expressed in the IMU frame) should also be set there. They are being estimated during runtime so only a rough guess should be sufficient.
* Especially for application with little motion fixing the IMU-camera extrinsics can be beneficial. This can be done by setting the parameter doVECalibration to false. Please be carefull that the overall robustness and accuracy can be very sensitive to bad extrinsic calibrations.
rovio-master（imu和单目的数据融合）.rar （56个子文件） 
rovio-master（imu和单目的数据融合） 
.gitmodules 129B Doxyfile.in 98KB cfg p22021_equidist.yaml 790B rovio.info 16KB euroc_cam1.yaml 1KB euroc_cam0.yaml 1KB lightweight_filtering srv SrvResetToPose.srv 262B mainpage.dox 1KB include rovio RovioFilter.hpp 14KB Camera.hpp 9KB exceptions.hpp 3KB MultilevelPatch.hpp 9KB Patch.hpp 13KB ImuPrediction.hpp 19KB Scene.hpp 8KB FeatureCoordinates.hpp 14KB FilterStates.hpp 27KB FeatureDistance.hpp 8KB PoseUpdate.hpp 14KB FeatureStatistics.hpp 14KB FeatureManager.hpp 21KB VelocityUpdate.hpp 7KB ImagePyramid.hpp 6KB featureTracker.hpp 15KB CoordinateTransform RovioOutput.hpp 8KB LandmarkOutput.hpp 4KB YprOutput.hpp 3KB FeatureOutputReadable.hpp 4KB PixelOutput.hpp 3KB FeatureOutput.hpp 9KB MultiCamera.hpp 5KB MultilevelPatchAlignment.hpp 30KB ImgUpdate.hpp 56KB RovioNode.hpp 47KB ZeroVelocityUpdate.hpp 7KB RovioScene.hpp 10KB RobocentricFeatureElement.hpp 5KB launch rovio_node.launch 356B valgrind_rovio.launch 180B rovio_rosbag_node.launch 618B LICENSE 1KB src Camera.cpp 11KB test_mlp.cpp 20KB feature_tracker_node.cpp 2KB FeatureCoordinates.cpp 8KB rovio_node.cpp 4KB test_patch.cpp 11KB FeatureDistance.cpp 6KB rovio_rosbag_loader.cpp 10KB Scene.cpp 21KB shaders shader.fs 1009B shader.vs 415B .gitignore 271B
CMakeLists.txt 5KB README.md 2KB package.xml 783B资源评论
