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zanazakaryaie / ARM-VO

Efficient monocular visual odometry for ground vehicles on ARM processors
MIT License
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Working with Undistorted Images #11

Open bot-lin opened 2 years ago

bot-lin commented 2 years ago

Hi @zanazakaryaie

Can I input raw images from camera to your library or the images have to be undistorted first before using your library?

zanazakaryaie commented 2 years ago

Hi @bot-lin ARM-VO requires undistorted images. The KITTI dataset contains such images and there is no need to do any pre-processing. But if you want to feed images from your camera, you should undistort first which is a time-consuming process. To reduce the cost, you can just undistort the keypoints after being detected by the FAST algorithm. You should also undistort the tracked points in the next frame and then use the undistorted pairs of points to estimate Fundamental and Homography matrices. The rest of the code should remain as it is.