yunxiaoshan / opencv-visual-slam

Feature detection via C++ and OpenCV, Feature Tracking via forward and backward error check

#CMPT 742 Fall2018 Assignment 05

Group menbers: Jiayi Zhou, Lei Pan

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Note:

• Helper: http://answers.opencv.org/question/100382/convert-vectorpoint-to-mat-with-2-columns/
• In report: threshold = 0.1 explaination
  • running speed, cpu + put klp + slam
  • threshold, image and curve
• WTF: come from here? https://github.com/ychemli/Fundamental-Matrix/blob/master/Fundamental.cpp

Implementation Steps

1. To make build folder/ change working directory
   • run build.sh file with the opencv and sov zips
   • change the dataset path to the current path in the default config file
2. To run KLT
   • To compile, in build, run make
   • To run, in build, run ./klt ../<image 1 name> ../<image 2 name>
3. To run frontend
   • To compile, in build, run make
   • To run, in build, run ./vo_offline ../config/default.yml