ChangeList, compare with the origin svo:
boost - c++ Librairies (thread and system are needed)
sudo apt-get install libboost-all-dev
Eigen 3 - Linear algebra
apt-get install libeigen3-dev
OpenCV3
Sophus - Lie groups we have intergrated sophus in our code. Thanks for the code: https://github.com/strasdat/Sophus.git
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
If you want use g2o, please set flag in cmakerlists.txt:
SET(HAVE_G2O TRUE) #TRUE FALSE
compile:
mkdir build cd build cmake ..
make
test file, test_pipline and 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
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