Stereo Visual Odometry Implementation in C++ on KIITI Dataset.
- OpenCV
- Cmake
mkdir build
cd build
cmake ..
make
./output -h
Put the absolute path of KIITI Dataset in setup.sh file and run following.
sudo chmod +x setup.sh
./setup.sh
Incase of ERROR : header file not found
edit .vscode/c_cpp_properties.json
Watch video
Image Calibration
To calibrate camera parameters take a picture of the Helper.py
file in src. It will save the data in parameters.txt
in src folder. By default you can use the chessboard in data folder or you can specify the path of your own files.
- OpenCV
- Numpy
- Matplotlib
- Argparser
For extra features run :
cd src
chmod +x Helper.py
./Helper.py -h
Mini Daatset Download KITTI Dataset Download Maintain this directory oder to avoid errors
.
├── image_00
│ ├── data [108]
│ └── timestamps.txt
├── image_01
│ ├── data [108]
│ └── timestamps.txt
├── image_02
│ ├── data [108]
│ └── timestamps.txt
├── image_03
│ ├── data [108]
│ └── timestamps.txt
├── oxts
│ ├── data [108]
│ ├── dataformat.txt
│ └── timestamps.txt
└── velodyne_points
├── data [108]
├── timestamps.txt
├── timestamps_end.txt
└── timestamps_start.txt
.
├── CMakeLists.txt
├── LICENSE
├── README.md
├── Research
│ ├── 10.1007@s00530-020-00662-9.pdf
│ └── SVO Paper.pdf
├── include
│ ├── feature.h
│ ├── rigid.h
│ ├── stereo.h
│ ├── system.h
│ └── utils.h
├── requirements.txt
├── setup.sh
└── src
├── Helper.py
├── Parameters
│ ├── LeftData.csv
│ ├── RightData.csv
│ ├── StereoData.csv
│ └── Stereomap.xml
├── feature.cpp
├── main.cpp
├── stereo.cpp
├── system.cpp
└── utils.cpp