Install ROVIO for bootstrapping using grayscale frames and IMU.
Then copy the rovio_davis_cvpr_live.launch file into your local ROVIO launch directory.
Calibrate you stereo DAVIS cameras using kalibr and save it in your local calib paths for the mapper, tracker and ROVIO. For reference, check calib_mcemvs.yaml in the mapper and davis_0889.yaml in the tracker packages. Make sure the calibration paths are updated in the respective launch files for all 3 packages (mapper, tracker and ROVIO).
Run roscore in a terminal and keep it running.
roscore
In another terminal, run the cameras:
roslaunch davis_ros_driver stereo.launch
In a separate terminal, launch the camera tracking node:
roslaunch dvs_tracking live_tracker_demo.launch
In a separate terminal, launch the mapping node:
roslaunch mapper_emvs_stereo live_mapper_demo.launch
In a separate terminal run the following:
python3 rqt_evo/src/rqt_evo/reset_rovio.py
This will allow to reset the rovio tracker in case it fails due to independent motion in the scene.
In a separate terminal:
sudo python3 rqt_evo/src/rqt_evo/keypresses.py
This script will listen globally for keypresses, the following mappings key/actions are in place:
| Key | Action |
|---|---|
| t | Reset camera tracking |
| m | Switch map expansion ON/OFF |
| e | Switch copilot ON/OFF |
| u | Update map manual request |
| p | Switch ON/OFF appending to the global pointcloud |
| r | Reset ROVIO tracker |
| x | Disable listening for keypresses |
| k | Quit the program |