jingyang-huang / eqvio

EqVIO: An Equivariant Filter for Visual Inertial Odometry

EqVIO (Equivariant Visual Inertial Odometry)

This repository contains the implementation of EqVIO: An Equivariant Filter (EqF) for Visual Inertial Odometry (VIO).

Please see https://pvangoor.github.io/eqvio_docs/ for the documentation.

Dependencies

• Eigen 3: sudo apt install libeigen3-dev
• Yaml-cpp: sudo apt install libyaml-cpp-dev
• GIFT: https://github.com/pvangoor/GIFT

Optional Dependencis

• FreeGLUT (for visualisations): sudo apt install freeglut3-dev
• ROS (for reading ROS-Bags): http://wiki.ros.org/ROS/Installation
• Doxygen (for documentation): sudo apt install doxygen

Build Guide (for ros users)

Modify Options and settings in CMakeLists.txt

option( EQVIO_BUILD_TESTS "Build Tests" ON)
option( EQVIO_BUILD_VISUALISATION "Build Visualisation Tool" ON)
option( EQVIO_BUILD_ROSBAG "Build EqVIO with rosbag reading enabled" ON)
option( EQVIO_SUPPORT_CONCEPTS "Build EqVIO using c++20 concepts" OFF)
option( EXTRA_WARNINGS "Enable extra warnings from gcc" ON)

And then run

cmake ..  
cmake --build . -j8

Running Guide

ASL Dataset Format

intrinsics.yaml is not needed as it is included in each sensor folder ./build/eqvio_opt ./data/MH_03_medium/ configs/EQVIO_config_EuRoC_stationary.yaml --display --mode asl

ROS bag

The essential intrinsics.yaml is extracted from the sensors'.yaml files. Since all of the sensors in the Euroc dataset are identical, one intrinsics.yaml suits all. It is located in the root folder in our version. You should place the intrinsics.yaml in the same folder as the other bags when attempting to execute it.

./build/eqvio_opt  ./data/euroc/MH_03_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

./build/eqvio_opt  ./data/euroc/V1_02_medium.bag configs/EQVIO_config_EuRoC_stationary.yaml --display --mode ros

And result can be seen in the output folder.