Download RGB-D dataset from TUM or KTTI
main.cpp will read the path of color and depth images from ./assoc.txt, then run OpenCV RgbdOdometry to compute visual odometry
The format of assoc.txt looks like:
timestamp1 rgb/[color_image_filename1] timestamp1 depth/[depth_image_filename1]
...
timestampN rgb/[color_image_filenameN] timestampN depth/[depth_image_filenameN]
You should change camera paramerts at the top of main.cpp
#define FOCUS_LENGTH 525.0
#define CX 319.5
#define CY 239.5
For the first time, you should download the dataset. You can use the below command
$ python tools/download_dataset.py
Start building
$ mkdir -p build; cd build
$ cmake ..; make
Start running
$ cd [Opencv-RgbdOdometry]
Create assoc.txt having synchronized rgb and depth images
$ cd rgbd_dataset_freiburg2_pioneer_slam3
$ python associate.py rgb.txt depth.txt > assoc.txt
$ ../build/rgbd-odometry
