chengKID/VIO_Data_Simulation_ROS

Using ROS to simulate the VIO data.

Simulating the Viusal Inertial Odometry (VIO) data

This is the ROS version. Simulating the Inertial Measurements Unit's and the camera's data to test the VIO algorithm. Our experiment szenario is a house, see following picture. You can change the configuration of the house by editing the "house.txt" in "bin/house_model". The default movement of IMU and camera is crcle movement around the house, feel free to change the movement by editing the function "MotionModel" in "imu.cpp".

Our example:

Installation

Linux Ubuntu 16.04; ROS Kinetic

Install OpenCV, C++

A few updates to the instructions above were needed.

$> cd ~
$> git clone https://github.com:chengKID/VIO_Data_Simulation_ROS.git
$> cd VIO_Data_Simulation_ROS
$> catkin_make

Pyton Tools

There are some python scripts in directories "phyton_tool". Feel free to use this small tools to draw trajectory, evaluation historgram, and so on.