ShitVO

Dependency

• Eigen

  sudo apt-get install libeigen3-dev

• OpenCV

  I prefer to compile opencv from source with some extra modules like aruco, viz, and so on. If you encounter some extra module errors due to kinds of reasons, just Skip them! For example,

  cmake .. -D BUILD_opencv_ts=OFF -D BUILD_opencv_text=OFF
  make -j8

• OpenCV_viz(Optional)

  If you want to see the real-time camera trajectory, you shall install viz module.

  1. Compile VTK from source. Usually, v7.x.x is enough.

  2. Recompile OpenCV with contrib. Check that version must match to OpenCV above.

     cmake .. –D WITH_VTK=ON -D VTK_DIR="/your/vtk/build/"

Run demo

mkdir build
cd build
cmake ..
make -j8
./bin/demo_homo_vo ../config/default.yaml /your/dataset/path

BTW, you can specify opencv_dir like

cmake .. -D OpenCV_DIR="your/opencv/build"

The dataset directory is arranged as following:

cam
  |_1234567890.jpg
  |_1234567891.jpg
  |_1234567892.jpg
  |_...
img_list.txt
imu_data.txt

• img_list.txt

  Contains all images file names.

• imu_data.txt

  Data is recorded as following:

  timestamp(unit: ms),acc[3],gry[3],att[9]