Usage 2.1 Change the opencv path in the CMakeLists
If you want to CUDA mode of this package, libSGM is required for depth estimation. Besides, it requires OpenCV cuda version.(Only test it on OpenCV 3.4.1).
The essential software environment is same as VINS-Fusion. Loop closure module for fisheye camera will release later.ĭrone path and RGB point cloud estimationĭisparity estimation for depth estimation 1. Only stereo visual-inertial-odometry is supported for fisheye cameras now. You may use it alone on any type of robot or as a part of Omni-swarm for swarm robots. This project stands as a part of Omni-swarm: A Decentralized Omnidirectional Visual-Inertial-UWB State Estimation System for Aerial Swarm. It can run on Nvidia TX2 in real-time, also provide depth estimation based on fisheye.
This repository is a Fisheye version of VINS-Fusion with GPU and Visionworks acceleration.