ILLIXR_INSTRUCTIONS.md

Getting Started with OpenVINS

Building OpenVINS

Standalone OpenVINS compilation:

git clone https://github.com/ILLIXR/open_vins.git
cd open_vins
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=[Release|Debug] -DCMAKE_INSTALL_PREFIX=<install path>
make
make install    (optional)

OpenVINS ILLIXR plugin compilation:

git clone https://github.com/ILLIXR/open_vins.git
cd open_vins
cd build
cmake .. -DCMAKE_BUILD_TYPE=[Release|Debug] -DCMAKE_INSTALL_PREFIX=<install path> -DILLIXR_ROOT=<path to ILLIXR includes> -DILLIXR_INTEGRATION=ON
make
make install    (optional)

Running OpenVINS Standalone

Now to run OpenVINS Standalone do the following:

cd build/ov_msckf
./run_illixr_msckf <path_to_cam0> <path_to_cam1> <path_to_imu0> <path_to_cam0_images> <path_to_cam1_images>

When running OpenVINS we assume the data is formatted in the EUROC Dataset standard.