Developed for analyzing the covariance for OrcVIO

Related tags

Data Analysisorcvio-covariance-python
Overview

about

This repo is developed for analyzing the covariance for OrcVIO

environment setup

  • platform ubuntu 18.04
  • using conda conda env create --file environment.yml

EuRoC demo

  • setup python path
export PYTHONPATH="${PYTHONPATH}:/home/erl/orcvio/orcvio-covariance-python"
  • perform tests
python ./tests/test_msckf.py
python ./tests/test_quaternions.py
python ./tests/test_triangulation.py
python ./tests/test_twopoint_ransac.py
  • run demo on euroc MH02 easy
python ./examples/run_on_euroc.py --euroc_folder /mnt/disk2/euroc/MH_02_easy/mav0 --use_viewer --start_timestamp 1403636896901666560

references

Owner
Sean
Sean
GitHub Repository
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