Vikit for FAST-LIVO2

Vikit (Vision-Kit) is a lightweight and efficient library providing essential camera models, mathematical utilities, and interpolation functions for the FAST-LIVO2 framework.

📬 For further assistance or inquiries, please contact Chunran Zheng at zhengcr@connect.hku.hk.

Supported Camera Models

Vikit supports the following camera models:

• Pinhole + Radtan
• Pinhole + Equidistant (with OpenCV-based fisheye distortion correction)
• Pinhole + ATAN
• Pinhole + Polynomial
• Omni + Polynomial

These models accommodate diverse camera configurations and distortion characteristics.

Project Lineage

This repository is maintained as a downstream fork with the following lineage:

1. Original work: xuankuzcr/rpg_vikit by Chunran Zheng.
2. ROS2-compatible port: integralrobotics/rpg_vikit.

Enhancements

The following key improvements have been implemented:

• Integrated OpenCV-based fisheye distortion correction into the equidistant camera model (vikit_common module).

Acknowledgments

Special recognition to:

• UZH-RPG group for foundational rpg_vikit research.
• Chunran Zheng for developing the ROS1-compatible version xuankuzcr/rpg_vikit specifically adapted for FAST-LIVO2.
• integralrobotics for porting Chunran Zheng's version to ROS2 in their rpg_vikit implementation.