orbslam2 with LK optical flow
This project is modified from orbslam2. All dependencies are consistent with orbslam2, try to support monocular camera now.
This project:
1、improve the speed of orbslam2
2、use optical flow to track the 3D points of the previous key frame, and non-key frames use PnPransac (the projection of the tracked 3D point on the current frame) to calculate the camera pose
how to install:
If you have installed all the dependencies of orbslam2 and want to run on rgbd dataset, modify "run.sh" based on your directory name.
Then run:
chmod +x build.sh
chmod +x run.sh
./build.sh
./run_rpc.sh