Daniel-Eckert/rovio

README

Install without opengl scene

Dependencies:

• ros
• kindr (https://github.com/ethz-asl/kindr)
• lightweight_filtering (https://bitbucket.org/bloesch/lightweight_filtering)

#!command

catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release

Install with opengl scene

Dependencies: ros, kindr, lightweight_filtering, opengl, glut, glew

#!command

catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON

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.