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
Dependencies: ros, kindr, lightweight_filtering, opengl, glut, glew
#!command
catkin build rovio --cmake-args -DCMAKE_BUILD_TYPE=Release -DMAKE_SCENE=ON
- 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.