acewzj / stereo-vision

A multiple computer vision and machine learning algorithms development/integration

README

This README would normally document whatever steps are necessary to get your application up and running.

Performance Result

YouTube Video

https://youtu.be/FdMsZ2LuRbg

GPX Result

• KITTI Road 2011_09_26_drive_0029

GroundTruth(blue) AND VisualOdom(red)

What is this repository for?

stereo-vision is a tool which contains the following computer vision and machine learning developments,

and will continue integrating more developments.

. stereomapper

A Qt GUI to read KITTI dataset and visualize the disparity map/visual odometry.

The original resource is from http://www.cvlibs.net/software/libviso/

The version here only contains the playback function but with

the memory leak fix.

. libviso2

A library for computing the six DOF motion of a moving mono/stereo camera.

The original resource is from http://www.cvlibs.net/software/libviso/

. libelas

A library for computing disparity maps from rectified graylevel stereo pairs.

How do I get set up?

. System setup:

. git clone the repo.

. git submodule update.

. Dependencies:

. OpenCV 3.1.0

. Qt Creator 4.2.1

. Database setup:

. download the KITTI raw data

http://www.cvlibs.net/datasets/kitti/

. unzip the calibration zip file to "calib" folder.

. unzip the sync zip file to "sync" folder.

. unzip the tracklets zip file to "tracklets" folder.

. System executation:

. Load stereomapper.pro in /stereomapper/

. Run qmake

. Build stereomapper project and run the project

. Click "Scan" button and open the folder contains "calib", "sync" and "tracklets" folders

Contribution guidelines

Who do I talk to?

. Andreas Geiger ( [email protected] )