A bare-metal visual-inertial odometry implementation based on LARVIO and MSCKF on the i.MX RT1170 microcontroller. The code in this project represents the work done over a year with a specialisation project and a master's thesis at the Norwegian University of Science and Technology (NTNU).
The thesis and its results can be found here.
The debugger on the evaluation board needs to be flashed with the JLink firmware, more information here. JLink also needs to be installed for flashing.
The project uses CMake:
mkdir build && cd buildcmake ..make -jmake flash
In order to debug, first compile with debug configuration (the default is release): cmake -DCMAKE_BUILD_TYPE=Debug .. && make -j. Then do make gdbcore0, which will start a GDB server which can be utilised to debug the code on the board. A provided .gdbinit file is located in this repo which shows the commands required to link towards the GDB server.
With a Ethernet link between a host PC with a static IP address set to 192.168.0.100 and the i.MX RT1170-EVK's 1 GBit port, the VIO pipeline can be tested with a proxy datalink and visualisation app from the viz folder. It requires a rust installation:
RUST_LOG=debug cargo run -- --dataset-path=<path to dataset section in EuRoC>
Newer version of the arm-none-eabi toolchain has proved to have adverse affects for the run time. Using 12.2 has a quite serious impact on performance. The project has been developed with version 11.3.1 of the toolchain.
This project utilises mainly Eigen and the Embedded Template Library. Supporting functionality is provided by OpenCV, Raylib and yamlcpp. The respective licenses can be found in the licenses folder.