#

A repo for the final project of SLAM study.

Project Structure

1. SlamWork: Body class of all the features.
2. DepthGenerator: Generate the depth from stereo images.
3. IcpTranslator: Generate the R and T between 2 frames.

TODO

1. Add backend features.
2. Debug the wrong translation according to the reference.

Result

Input argument: The exact kitti data directory of images: 00,01,02,...

Output now are the infos printed at the console.

R_world: The R matrix from the present to the first.

t_world: The t vector from the present to the first.