aagha66 / slam-eds

Events-aided Sparse Odometry: this is the library for the direct approach using events and frames

Event-aided Direct Sparse Odometry (EDS)

Direct visual odometry approach using events and frames (CVPR 2022)

License

See LICENSE file

Installation

The easiest way to build and install this package is to use Rock's build system. See this page on how to install Rock. You can use the EDS builconf which tells you how to install and use this library from scratch. There is also the option to build and use this library in a Docker container.

However, if you feel that it's too heavy for your needs, Rock aims at having most of its "library" packages (such as this one) to follow best practices. See this page for installation instructions outside of Rock. It means this library and its dependencies are standard C++ libraries. Therefore you can build your own EDS system based on this code which is out of the Rock ecosystem.

Dependencies

This is an standard C++ library which generates a shared library by default. Dependencies are listed in the manifest file, those are:

• base/cmake: the CMake pure function to build this library
• base/types: C++ basic types (types depends on std C++ and Eigen)
• base/logging: C++ library for logging (similar to Google glog)
• slam/ceres_solver: the Ceres solver library
• slam/pcl: the point cloud library
• opencv: Open source Computer Vision library. Ubuntu 20.04 uses 4.2.0
• yaml-cpp: YAML config parser for the configuration parameters

Rock CMake Macros

This package uses a set of CMake helper shipped as the Rock CMake macros. Documentations is available on this page. These macros are pure CMake functions, so they are totally independent of the Rock ecosystem.

Library Standard Layout

This directory structure follows some simple rules, to allow for generic build processes and simplify reuse of this project. Following these rules ensures that the Rock CMake macros automatically handle the project's build process and install setup properly.

EDS Folder Structure

directory	purpose
src/	Contains all header (.h/.hpp) and source files
src/bundles	This is the backend optimation from DSO
src/init	This is the DSO initializer class
src/io	I/O wrapper from images and maps different types
src/mapping	This is the pixel selector based on DSO
src/sophus	The Sophus template header-only library based on Eigen
src/tracking	This is the EDS tracker to perform Events to Model alignment
src/utils	Some utils functions
build/ *	The target directory for the build process, temporary content
test/	Boost Unit test to check basic class functionalities