Visual-Inertial Tracking using Preintegrated Factors

This repo for project is built upon part of the code in practical course "Vision-based Navigation" (IN2106 24SS) taught at the Technical University of Munich(TUM). Final report: report

Team Member:

Pei-Ran Huang

Wenjie Xie

Setup

git clone --recursive https://github.com/helloYwen123/Visual-Inertial-Odometry-TUM_Visnav.git

Run the sh file to install all- Prerequisites packages

cd ${yourworkspacename}
./install_dependencies.sh
./build_submodules.sh

After running the command, then need to build code

mkdir build && cd build
cmake ..
make

Running

Please adjust the variable names for the dataset and the status of IMU utilization as required.

cd ${yourworkspacename}
./build/odometry --dataset-path /data/euro_data/${datafolder}/mav0 --cam-calib euroc_ds_calib_visnav_type.json --use-imu true