Developed for analyzing the covariance for OrcVIO

Last update: Dec 08, 2021

Related tags

Data Analysis orcvio-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

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