Feature request: build a Google Tango version

[greymfm]

Google Tango's own localization engine has a major drawback: it's a blackbox, e.g. you cannot tune it for your specific application or get localization confidence feedback (e.g. number of detected feature points etc.) and so it's useless for e.g. open robotics projects...

Idea: make VINS a Google Tango version?

Here's how to get Google Tango sensor data (IMU+fisheye camera):
https://github.com/jinjaysnow/SenseData

Actually, the interesting part is in C++:
https://github.com/jinjaysnow/SenseData/blob/master/app/src/main/cpp/SenseDataApp.cpp

Do you think it's possible to create a VINS Google Tango version? :-) (example device: Lenovo PHAB 2 Pro, I have one here for testing: http://grauonline.de/wordpress/?page_id=2109)

I can help you with Android programming if you like... Or we try to persuade 'jinjaysnow' (author of SenseData) to add VINS to his project (ijinjay/SenseData#1) - what do you think?

[PeiliangLi]

Thanks for the concern.
Basically, the sensor driver parts are only included in ViewController.mm, I add some comments for better understanding it, please check the latest commit.
You can port other parts without many modifications as long as the third-party (opencv, ceres, Eigen) can be used on your platform.

[greymfm]

Thanks. jinjaysnow discovered that the initialization is really slow on his iPad Pro (ijinjay/SenseData#1) - maybe it's because it is initializing velocity, gravity, visual scale, and camera-IMU extrinsic calibration on the fly? (and it's probably just the first run) I'm thinking on using a cheap device for VINS, and a Google Tango phone looks like one - I hope VINS will work fast enough on it (Snapdragon 1.8GHz octa-core, 16 MP RGB camera, depth camera, a 130 degree global shutter fish eye camera, 200 Hz IMU).