HugoNip / VisualOdometry-KeypointsMatching

Introduction

This project shows how to use matching keypoints to estimate pose of camera.

Requirements

OpenCV

Required Packages

OpenCV
OpenCV Contrib

Eigen Package (Version >= 3.0.0)

Source

http://eigen.tuxfamily.org/index.php?title=Main_Page

Compile and Install

cd [path-to-Eigen]
mkdir build
cd build
cmake ..
make 
sudo make install 

Search Installing Location

sudo updatedb
locate eigen3

default location "/usr/include/eigen3"

g2o Package

Download

https://github.com/RainerKuemmerle/g2o

Compile and Install

cd [path-to-pangolin]
mkdir build
cd build
cmake ..
make 
sudo make install 

Compile this Project

mkdir build
cd build
cmake ..
make 

Run

Keypoint Matching by using ORB features

./build/orb_cv
./build/orb_self

ORB Keypoints

All Matches

Good Matches

Pose Estimation by using 2d-2d Keypoints

./build/pose_estimation_2d2d

Pose Estimation by using 3d-2d Keypoints

./build/pose_estimation_3d2d

Pose Estimation by using 3d-3d Keypoints

./build/pose_estimation_3d3d

Reference

Source