LeatherWang/svo_edgelet

A more robust SVO with edgelet feature

SVO_edgelet

ChangeList， compare with the origin svo:

1. add edgelete feature
2. inition VO: auto select H model and E model
3. keyframe selection strategy
4. add pangolin to draw trajectory and remove ROS

install（ubuntu）

安装依赖项

• boost - c++ Librairies (thread and system are needed)

  sudo apt-get install libboost-all-dev

• Eigen 3 - Linear algebra

  apt-get install libeigen3-dev

• Sophus - Lie groups

  cd workspace

  git clone https://github.com/strasdat/Sophus.git

  cd Sophus

  git checkout a621ff

  mkdir build

  cd build

  cmake ..

  make

• g2o - General Graph Optimization OPTIONAL Only required if you want to run bundle adjustment. It is not necessary for visual odometry. I suggest an out-of-source build of g2o:

  cd workspace

  git clone https://github.com/RainerKuemmerle/g2o.git

  cd g2o

  mkdir build

  cd build

  cmake ..

  make

  sudo make install

Build and Compile

下载程序到指定路径，程序默认不使用g2o，如果编译的时候想使用g2o，修改cmakerlists.txt：

SET(HAVE_G2O TRUE) #TRUE FALSE

compile：

mkdir build

cmake ..

make

Run code

目前可供测试的程序是test文件夹下的test_pipline和test_live_vo。

Offline datasets：

To run on tum dataset：test_pipline
To run on euroc dataset：test_piplel_euroc

Online camera：test_live_vo

Results

Authors

Yijia He, Institute of Automation, Chinese Academy of Sciences

Wei Wei, Institute of Computing Technology, Chinese Academy of Sciences

Yanan Gao, Institute of Computing Technology, Chinese Academy of Sciences