A merge of two different approaches to SLAM: Direct Sparse Odometry and ORB-SLAM2. Additionally merged Stereo-DSO to provide capabilities of both Mono and Stereo SLAM.
Under Windows using vcpkg. The script 'installDependencies.bat' installs all the necessary dependecies. (You need vcpkg and cmake installed under C:/)
Additionally Pangolin must be build within the thridparty Folder as well as g2o.
It might be necessary to copy .dll files by hand under windows.
Optimization within this project utilizes the GPU using OpenCL through openCV's interface. Make sure OpenCV is compiled with the OpenCL option and you have appropriate drivers installed. Intel should support OpenCL by default, AMD and NVidia might need additional driver setup.
ORB-SLAM2's DBoW2 is slightly modified and hard-added in this repository. See https://github.com/dorian3d/DBoW2.
The project uses gflags for easier flag handling. Use '--help' to see available options.
DSO was developed at the Technical University of Munich and Intel. The open-source version is licensed under the GNU General Public License Version 3 (GPLv3). For commercial purposes, we also offer a professional version, see http://vision.in.tum.de/dso for details.
Licenses for ORB-SLAM2, DboW are copied within this repository.