VIO SVO MSF

Installation of SVO and MSF together. SVO makes the Vision Odometry and MSF merge sensors (initially only the IMU and the Vision Odometry).

SVO working but need better camera testing

MSF not tested

To make SVO works well

• SVO only works well with downward-facing cameras.
• Wide camera angle (>90º, but about 110 is feasible)
• High frame rate (reviewers talk about ~70fps)
• Camera with fixed exposure time (ISO), fixed shutter speed, avoid rolling shutter cameras

Installation

# It activate NEON FLAGS for ARM
echo export ARM_ARCHITECTURE=True >> ~/.bashrc

# apt-get dependencies
sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev ros-indigo-usb-cam

# Create a catkin workspace and external workspace
mkdir ~/Workspace
mkdir ~/Workspace/External
mkdir ~/Workspace/Catkin
mkdir ~/Workspace/Catkin/src
cd ~/Workspace/Catkin/src
catkin_init_workspace

# Installation https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-ROS
# Sophus
cd ~/Workspace/External
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j5
sudo make install # you can skip it for sophus & fast

# FAST
cd ~/Workspace/External
git clone https://github.com/uzh-rpg/fast.git
cd fast
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j5
sudo make install # you can skip it for sophus & fast

# G2O - used to run Bundle Adjustment, it increase (x10) the precision at cost of computationnal power
# If you have problems to compile, use : sudo apt-get install ros-indigo-libg2o
cd ~/Workspace/External
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make -j5
sudo make install

cd ~/Workspace/Catkin/src
git clone https://github.com/uzh-rpg/rpg_svo # Vision Odometry
git clone https://github.com/ethz-asl/ethzasl_msf # Sensor vision
git clone https://github.com/uzh-rpg/rpg_vikit.git # SVO tools
git clone https://github.com/ethz-asl/ethzasl_ptam # PTAM calibrator for ATAN calibration
git clone https://github.com/ethz-asl/glog_catkin # Google glog catkin
git clone https://github.com/catkin/catkin_simple # Catkin simple

# If you installed G2O, set HAVE_G2O in svo/CMakeLists.txt to true
# also export export G2O_ROOT=$HOME/installdir
# if you installed it via apt-get, the install dir is G2O_ROOT=/opt/ros/indigo/include/g2o/

cd ~/Workspace/Catkin/
catkin_make
# Or catkin_make -DG2O_INCLUDE_DIR=/opt/ros/indigo/include/g2o/
# NOTE: I needed at least 4Go RAM to compile => add some swap

echo "source ~/Workspace/Catkin/devel/setup.bash" > ~/.bashrc

Camera calibration

Choice of calibration - https://github.com/uzh-rpg/rpg_svo/wiki/Camera-Calibration

ATAN calibration (from ethzasl_ptam package) - http://wiki.ros.org/ethzasl_ptam/Tutorials/camera_calibration

Pinhole calibration (ROS & OpenCV standard) - http://wiki.ros.org/camera_calibration

Known issues with installation

If you want G2O to be used and got G2O_INCLUDE_DIR=NOT_FOUND, then you can call catkin_make -DG2O_INCLUDE_DIR=/opt/ros/indigo/include/g2o/