ChangeList, compare with the origin svo:
- add edgelete feature
- inition VO: auto select H model and E model
- keyframe selection strategy
- add pangolin to draw trajectory and remove ROS
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boost - c++ Librairies (thread and system are needed)
sudo apt-get install libboost-all-dev
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Eigen 3 - Linear algebra
apt-get install libeigen3-dev
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OpenCV3
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Sophus - Lie groups we have intergrated sophus in our code. Thanks for the code: https://github.com/strasdat/Sophus.git
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g2o - General Graph Optimization OPTIONAL Only required if you want to run bundle adjustment. It is not necessary for visual odometry. I suggest an out-of-source build of g2o:
cd workspace
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install
If you want use g2o, please set flag in cmakerlists.txt:
SET(HAVE_G2O TRUE) #TRUE FALSE
compile:
mkdir build cd build cmake .. make
test file, test_pipline and test_live_vo:
Offline datasets:
To run on tum dataset:test_pipline
To run on euroc dataset:test_piplel_euroc
Online camera:test_live_vo
Yijia He, Institute of Automation, Chinese Academy of Sciences
Wei Wei, Institute of Computing Technology, Chinese Academy of Sciences
Yanan Gao, Institute of Computing Technology, Chinese Academy of Sciences