/iscv-tmp

Primary LanguagePythonGNU General Public License v3.0GPL-3.0

iscv-tmp

system require

  1. axel
  2. python
  3. make

some command

  1. download dataset

    make download

  2. configuration of python environment

    make env

  3. combination between depth and rgb

    make associate

  4. build project

    make build

  5. evaluate_rpe

    make evaluation_rpe

  6. evaluate_ate

    make evaluate_ate

  7. evaluate

    make evaluate

calibration

Camera fx fy cx cy d0 d1 d2 d3 d4
(ROS default) 525.0 525.0 319.5 239.5 0.0 0.0 0.0 0.0 0.0
Freiburg 1 RGB 517.3 516.5 318.6 255.3 0.2624 -0.9531 -0.0054 0.0026 1.1633
Freiburg 2 RGB 520.9 521.0 325.1 249.7 0.2312 -0.7849 -0.0033 -0.0001 0.9172
Freiburg 3 RGB 535.4 539.2 320.1 247.6 0 0 0 0 0

todo

  1. rewrite matlab code to python

    No task modules deadline status
    1.1 se3Log 14.06.2020 implemented
    1.2 se3Exp 14.06.2020 implemented
    1.3 imreadbw 14.06.2020 implemented
    1.4 calcResiduals 14.06.2020 implemented
    1.5 deriveResidualsAnalytic 14.06.2020 -
    1.6 deriveResidualsNumeric 14.06.2020 implemented
    1.7 downscale 14.06.2020 implemented
    1.8 doAlignment 14.06.2020 implemented

  2. Implement keyframe-based camera tracking through direct image alignment.

    No task modules deadline status
    2.1 process the RGB-D images only up to a downsampled size in the image pyramid - implemented
    2.2 Choose thresholds on the rotational and translational distance to create new keyframes, when the image overlap gets too small for camera tracking implemented
    2.3 Implement the relative entropy measure to decide when to create new keyframes
    2.4 Implement pose-graph optimization for the keyframe poses using the Gauss-Newton algorithm and left-multiplied increments on the poses.

    The sample of 2.2 is bellow:

    2.2

  3. optimal key-frame

    No task modules deadline status
    3.1
    3.2
    3.3
    3.4

  4. second party

    No task modules deadline status
    4.1
    4.2
    4.3
    4.4

  5. pending