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