zptang1210/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）

Prerequisites

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

  sudo apt-get install libboost-all-dev

• Eigen 3 - Linear algebra

  apt-get install libeigen3-dev

• OpenCV3

• Sophus - Lie groups we have intergrated sophus in our code. Thanks for the code: https://github.com/strasdat/Sophus.git

• 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

If you want use g2o, please set flag in cmakerlists.txt：

SET(HAVE_G2O TRUE) #TRUE FALSE

compile：

mkdir build cd build cmake .. make

Run code

test file, test_pipline and 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