🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch
See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5
Dependencies
See CMakeLists.txt for dependencies.
Disclaimer
This is the open-source version, advanced features are not included. Also this is the code that we used to generate results in the paper. It contains bugs that are thus fixed in the latest version. However, we upload the code as is for reproducibility. We will update the main branch with all the fixes soon.