Coder Social home page Coder Social logo

mitsurukato24 / irotavg Goto Github PK

View Code? Open in Web Editor NEW

This project forked from ajparra/irotavg

0.0 0.0 0.0 282 KB

iRotAvg (incremental rotation averaging) incrementally solves rotation averaging. iRotAvg is the optimisation core of L-infinity SLAM.

License: Other

CMake 14.65% C++ 85.35%

irotavg's Introduction

iRotAvg

Author: Álvaro Parra

iRotAvg (incremental rotation averaging) incrementally solves rotation averaging. iRotAvg is the optimisation core of L-infinity SLAM presented in [Á. Parra, T.-J. Chin, A. Eriksson, I. Reid: Visual SLAM: Why bundle adjust?, ICRA 2019].

This work was supported by Maptek and the ARC Linkage Project LP140100946.

Maptek       The University of Adelaide

Related Publication:

Á. Parra, T.-J. Chin, A. Eriksson, I. Reid: Visual SLAM: Why bundle adjust?, ICRA 2019

License

iRotAvg is released under a GPLv3 license.

For a closed-source version of iRotAvg (e.g., for commercial purposes), please contact the author.

For an academic use of iRotAvg, please cite Á. Parra, T.-J. Chin, A. Eriksson, I. Reid: Why bundle adjust?, ICRA 2019.

Dependencies

  • Eigen
  • SuiteSparse
  • opencv
  • Boost (Filesystem)

In Mac:

  • brew install eigen
  • brew install suite-sparse
  • brew install opencv
  • brew install boost

In Ubuntu:

  • sudo apt install libeigen3-dev
  • sudo apt-get install libsuitesparse-dev
  • sudo apt-get install libboost-all-dev
  • For OpenCV wise, https://www.pyimagesearch.com/2018/05/28/ubuntu-18-04-how-to-install-opencv/ provides a good guide.

Compilation

  • mkdir build
  • cd build
  • cmake ..
  • make

(binary is compiled inside src)

Execution

General usage follows ORB-SLAM input:

./irotavg orb_vocab.txt config.yaml sequence_path

where

  • orb_vocab.txt Orb vocabulary as in ORB-SLAM.
  • config.yaml Configuration file as in ORB-SLAM.
  • sequence_path Directory containing the frame sequence.

To see more usage options simply execute:

./irotavg

Testing with the KITTI dataset

To test iRotAvg with the KITTI dataset:

  1. Download the grayscale sequences from here.
  2. Download a configuration file from the ORB-SLAM monocular exampes. E.g.: KITTI00-02.yaml for sequences 0 to 2.
  3. Download and uncompress the orb vocabulary file from here.
  4. Execute irotavg passing the corresponding paths: ./irotavg path/to/orb_vocab.txt path/to/config.yaml path/to/sequence/

The output is saved to:

  • rotavg_poses_ids.txt Contains the ids (starting in 1) of frames in the view-graph (selected frames).
  • rotavg_poses.txt Contains the computed absolute poses.

Watch a demonstration in the KITTI dataset

Watch a demonstration in the KITTI dataset

irotavg's People

Contributors

ajparra avatar ckchng avatar mitsurukato24 avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.