This repo is the plain CMake version for rd-vio, separated and modified from xrslam. Check the original repo for detail.

RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments

And now it is:

• mono visual-inertial odometry

What is removed:

• global localizer
• global interface

What is add:

• a simple viewer using Pangolin
• a simple dataset reader (currently euroc only)

The main system APIs can be founded in 'src/rdvio/rdvio.hpp'.

EuRoC example can be found in 'examples', it works well on seq v101-easy.

Multi-threading is enabled by default, you can disable it by adding parameter when cmake:

cmake .. -DTHREADING=OFF

*About testing on ADVIO

• Basic code can be found in 'examples'
• Still wrong estimation, working on it

Make sure you have installed:

• OpenCV 4.x
• Eigen 3.4.0
• Ceres-Solver
• yaml-cpp
• pangolin

Then run the following commands:

# clone the repo
cd rd_vio

mkdir build
cd build

cmake ..
make -j4

cd build
./examples/test_euroc ../configs/euroc_sensor.yaml ../configs/settings.yaml $/path/to/euroc/mav0

*test on euroc v101 easy