Copyright (c) <2019> <Jiawei Mo, Junaed Sattar>
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The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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export DSO_PATH=[PATH_TO_DSO]/dso
cd ~/catkin_ws/src
git clone https://github.com/jiawei-mo/scale_optimization.git
cd ~/catkin_ws
catkin_make
-
Calibrate stereo cameras, format of cams. Refer to DSO for more details of intrisic parameters.
-
Create a launch file by the format of sample.launch.
roslaunch so_dso [YOUR_LAUNCH_FILE]
- Ctrl-C to terminate and the output files will be written to .ros folder.
- poses.txt: poses of all frame, using the TUM RGB-D / TUM monoVO format ([timestamp x y z qx qy qz qw] of the cameraToWorld transformation).
Time logs:
- fps_time.txt: runtime of each frame.
- scale_time.txt: runtime of scale optimization.
- ba_time.txt: runtime of bundle adjustment.
The only extra parameter of this work over DSO is the scale_accept_th, which is the threshold to accept a result from scaler optimizer. Usually, it is around 10-15.