this project is a simplify application based on Kerl's paper 《robust odometry estimation for rgb-d cameras》
you can use this project to learn direct visual odometry method.
sophus, eigen3, pcl, opencv.
you can download sophus from github.
please download TUM RGBD datasets by yourself.
the main function in src/dvotest.cpp, you need change the dataset filepath to your own path.
result：
