/rgbd_pose_estimation

A header only library with example files to deliver moer accurate, precise and robust pose estimation than using traditional Perspective-n-Point approaches.

Primary LanguageC++

rgbd_pose_estimation (Version 1.2 - 28th of Dec 2017)

Update notes:

  • Adapt to the latest Sophus library.
  • Remove dependency on boost library.
  • Fix a few bugs in the testing example.

Release highlights:

  • It is a header only library. (No linking required)
  • Example codes available.
  • More accurate, precise and robust absolute pose estimation than using traditional Perspective-n-Point approaches or Absolute orientation approaches.
  • Tested on Windows and Linux.

Build Notes:

Windows:

Requirements:
	1) Microsoft Visual C++
	   From: https://support.microsoft.com/en-us/kb/2977003/
	2) Eigen
	   From: http://eigen.tuxfamily.org/index.php?title=Main_Page
	   
Optional requirements for the sample codes:
	1) OpenCV 3.0 
	   From: http://opencv.org/
    2) CMake and CMake-GuI (To create project files)
	   From: http://www.cmake.org/

Building rgbd_pose_estimation:
    As the library is composed of a bunch of headers of C++, no linking is needed.

Building the example
    1) Install the OpenCV 3.0 Library 
	2) Create a folder 'build' 
	3) Run CMake-Gui and specify the path to dependences. 
	4) Press 'configure' and then 'generate' button
	5) Open the 'RGBDPoseEstimation.sln' and compile it.

Linux:

Requirements:
	1) Eigen
	   From: http://eigen.tuxfamily.org/index.php?title=Main_Page
	   
Optional requirements for the sample codes:
	1) OpenCV 3.0 
	   From: http://opencv.org/
    2) CMake and CMake-GuI (To create project files)
	   From: http://www.cmake.org/

Building rgbd_pose_estimation:
    As the library is composed of a bunch of headers of C++, no linking is needed.

Building the example
    1) Install the OpenCV 3.0 Library 
	2) Create a folder 'build' 
	3) Run CMake-Gui and specify the path to dependences. 
	4) Press 'configure' and then 'generate' button
	5) make