SaDVIO
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This library provide a modular C++ framework dedicated on research about Visual Odometry (VO) and Visual Inertial Odometry (VIO). It also contains implementations of research works done at ISAE such as: factor graph sparsification, traversability estimation with 3D mesh and non overlapping field of view VO. This version is compatible with the middleware ROS2.
Here are the dependencies:
You can either run this code with ROS2, the famous robotic middleware, or without ROS2. For now it has been tested with Galactic and Humble. A few changes are needed for Jazzy but only in the ros folder.