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Test S-MSCKF on EuRoC dataset

How to build S-MSCKF?

To build S-MSCKF, you need install ROS first. See (http://www.ros.org/install/) for details. We modify code to save vio trajectory for later evaluation. Note: trajectory logging is in a separated thread, so that estimator thread won't be blocked by logging.

## download code
cd ~/catkin_ws/src
git clone https://github.com/symao/msckf_vio

## checkout to modify version which close viewer and loop closing
cd msckf_vio
git checkout evaluation

## build
cd ~/catkin_ws
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release

How to run S-MSCKF on EuRoC datasets?

  1. Download EuRoC dataset on https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets. NOTE: Download datasets in rosbag(.bag) rather than ASL Dataset Format(*.zip).
  2. Batch run. Modify 'bag_dir' to your path which contains all rosbag file. And run 'python run_euroc.py'. It will run all rosbag files in bag_dir.