ashishd / visual_odometry

Simple visual odemetry pipeline test

Visual Odometry

Work in progress.

License: CC BY-NC-SA 4.0

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

Install

sudo apt-get install texlive-extra-utils gnuplot

Gflags

https://github.com/gflags/gflags

cmake .. -DBUILD_SHARED_LIBS=ON - Without this flag opencv can throw an error when building.

OpenCV CMake with contrib

wget -O opencv-3.4.2.zip https://github.com/opencv/opencv/archive/3.4.2.zip

wget -O opencv_contrib-3.4.2.zip https://github.com/opencv/opencv_contrib/archive/3.4.2.zip

Unzip the archives.

mkdir opencv-3.4.2/build
cd opencv-3.4.2/build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.4.2/modules -D WITH_CUDA=ON -D WITH_CUBLAS=ON -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_OPENGL=ON -D WITH_OPENCL=ON -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF -D CUDA_NVCC_FLAGS="-D_FORCE_INLINES" ..
make -j 3
sudo make install

GSTAM

https://bitbucket.org/gtborg/gtsam

Dataset

I am using the greyscale kitti data for testing http://www.cvlibs.net/datasets/kitti/eval_odometry.php

The data is organized as follows and the arguments point at the relevant directories to process the data:

--data_dir kitti/dataset/sequences/
--res_dir kitti/dataset/results 
--poses kitti/dataset/poses
--seq "00"
--calib_file calib.txt

kitti
└── dataset
    ├── poses
    │   ├── 00.txt
    │   ├── 01.txt
    │   ├── 02.txt
    │   ├── 03.txt
    ├── results
    │   ├── 00
    │   │   ├── err
    │   │   ├── plot
    │   ├── 01
    │   │   ├── err
    │   │   └── plot
    │   ├── 02
    │   │   └── plot
    │   ├── 03
    │   │   └── plot
    └── sequences
        ├── 00
        │   ├── calib.txt
        │   ├── image_0
        │   ├── image_1
        │   └── times.txt
        ├── 01
        │   ├── calib.txt
        │   ├── image_0
        │   ├── image_1
        │   └── times.txt
        ├── 02
        │   ├── calib.txt
        │   ├── image_0
        │   ├── image_1
        │   └── times.txt
        └── 03
            ├── calib.txt
            ├── image_0
            ├── image_1
            └── times.txt