Deltavision.io本月底将推出ov7251+BMX055+USB3.0的高性价比单目VI-SLAM硬件模组,目前在进行最终的SDK集成。
我们首先会接入VINS-MONO,ov7251支持的帧率可灵活配置为480p@20/30/60/100Hz,IMU采样率(acc/gyro)可配置为100/200/500/800/1000Hz,mag支持100Hz,两者的数据均通过usb3.0传输,ROS的前端wrapper已完成集成。
1. Ubuntu 14.04, ROS Indigo, OpenCV 3.1.0, Eigen 3.2.0, Ceres Solver
2. Build VINS-MONO on ROS
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3. Delete cv_bridge in ROS indigo and extract new cv_bridge from vision_opencv
sudo apt-get remove ros-indigo-cv-bridge
git clone https://github.com/ros-perception/vision_opencv.git
find_package(OpenCV 3.1 REQU