HugoNip/VisualOdometry-DirectMethod

Introduction

This project shows how to use optical flow and direct method to estimate pose of camera.

Requirements

OpenCV

Required Packages

OpenCV
OpenCV Contrib

Eigen Package (Version >= 3.0.0)

Source

http://eigen.tuxfamily.org/index.php?title=Main_Page

Compile and Install

cd [path-to-Eigen]
mkdir build
cd build
cmake ..
make 
sudo make install 

Search Installing Location

sudo updatedb
locate eigen3

default location "/usr/include/eigen3"

Sophus Package

Download

https://github.com/HugoNip/Sophus

Compile and Install

cd [path-to-pangolin]
mkdir build
cd build
cmake ..
make 
sudo make install 

Compile this Project

mkdir build
cd build
cmake ..
make 

Run

Keypoint Matching by using ORB features

Pose Estimation by Optical Flow

./optical_flow

Pose Estimation by Direct Method

./direct_method

Reference

Source