This repository is C++ OpenCV implementation of Stereo Visual Odometry, using OpenCV calcOpticalFlowPyrLK
for feature tracking.
Reference Paper: https://lamor.fer.hr/images/50020776/Cvisic2017.pdf
Demo video: https://www.youtube.com/watch?v=Z3S5J_BHQVw&t=17s
OpenCV 4
If you are not using CUDA:
sudo apt update
sudo apt install libopencv-dev
If you use CUDA, compile and install CUDA enabled OpenCV.
Tested on KITTI odometry dataset.
cd <your_ws>/src
git clone https://github.com/MrOCW/soft_vo_ros
cd ..
catkin_make
rosrun soft_vo_ros vo_node
Image with feature tracking is published on /feature_image topic
Currently, ROS version does not perform as well as standalone version for some reason
To enable GPU acceleration
- Make sure you have CUDA compatible GPU.
- Install CUDA, compile and install CUDA supported OpenCV
- When compiling, use
catkin_make -DUSE_CUDA=ON
- Compile & Run