OV7251 + BMX055 Module for VI-SLAM - www.deltavision.io

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jason_deltavision

于 2018-05-20 12:39:57 发布

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分类专栏： VIO/VINS/VSLAM DELTAVISION的博客文章标签： VSLAM Deltavision.io Camera IMU Computer Vision

本文链接：https://blog.youkuaiyun.com/jason_aistarvision/article/details/80381228

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

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