# VINS-Course

**Repository Path**: guoguome/VINS-Course

## Basic Information

- **Project Name**: VINS-Course
- **Description**: 从零开始手写VIO 课程代码
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2020-02-24
- **Last Updated**: 2022-11-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Vins Course
[ ![Build Status](doc/README-English-yellow.svg) ](README_EN.md)

**作者**：贺一家，高翔，崔华坤，赵松

**描述**：
这是一个用于[深蓝学院](<http://www.shenlanxueyuan.com/>)教学的代码，她基于 VINS-Mono 框架，但不依赖 ROS, Ceres, G2o。这个代码非常基础，目的在于演示仅基于 Eigen 的后端 LM 算法，滑动窗口算法，鲁棒核函数等等 SLAM 优化中常见的算法。
该代码支持 Ubuntu or Mac OS.

### 安装依赖项：

1. pangolin: <https://github.com/stevenlovegrove/Pangolin>

2. opencv

3. Eigen

4. Ceres: vins 初始化部分使用了 ceres 做 sfm，所以我们还是需要依赖 ceres. 

### 编译代码

```c++
mkdir vins_course
cd vins_course
git clone https://github.com/HeYijia/VINS-Course
mkdir build 
cd build
cmake ..
make -j4
```

### 运行
#### 1. CurveFitting Example to Verify Our Solver.
```c++
cd bin
./testCurveFitting 
```

#### 2. VINs-Mono on Euroc Dataset
```c++
cd bin
./run_euroc /home/dataset/EuRoC/MH-05/mav0/ ../config/
```
![vins](doc/vins.gif)

#### 3. VINs-Mono on Simulation Dataset (project homework)

you can use this code to generate vio data.

```c++
https://github.com/HeYijia/vio_data_simulation
```

#### 4. Validation Results
[evo package](https://github.com/MichaelGrupp/evo)
```c++
evo_ape euroc euroc_mh05_groundtruth.csv pose_output.txt -a -p
```

![results](doc/results.png)

### Licence

The source code is released under GPLv3 license.

We are still working on improving the code reliability. For any technical issues, please contact Yijia He <heyijia_2013@163.com> , Xiang Gao <https://github.com/gaoxiang12> or Huakun Cui<https://github.com/StevenCui>.

For commercial inquiries, please contact Song Zhao <zhaosong@shenlanxueyuan.com>

### 感谢

我们使用了港科大沈老师组的 [VINS-Mono](https://github.com/HKUST-Aerial-Robotics/VINS-Mono) 作为基础代码，非常感谢该组的工作。