compile with opencv3
if use opencv3, change outputFile << cv::format(data,"CSV")<<std::endl; to outputFile << format(data,, cv::Formatter::FMT_CSV) << endl; in feature_detection.cpp.
SVO_edgelet
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
install(ubuntu)
安装依赖项
-
boost - c++ Librairies (thread and system are needed)
sudo apt-get install libboost-all-dev
-
Eigen 3 - Linear algebra
apt-get install libeigen3-dev
-
Sophus - Lie groups
cd workspace
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make
-
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
Build and Compile
下载程序到指定路径,程序默认不使用g2o,如果编译的时候想使用g2o,修改cmakerlists.txt:
SET(HAVE_G2O TRUE) #TRUE FALSE
compile:
mkdir build
cmake ..
make
Run code
目前可供测试的程序是test文件夹下的test_pipline和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
Results
Authors
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