VahdPourAmin
5de7ea6022
This reverts commit 50192e3b04.
# Conflicts:
# GPU_version/vio/src/frame_handler_mono.cpp
SVO
This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. The feature extraction part is implemented in OpenCL to take advantage of GPU.
Paper svo: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf Paper Svo+GTSAM: https://arxiv.org/abs/1512.02363
Disclaimer
SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed.
Licence
The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info.
Citing
If you use SVO in an academic context, please cite the following publication:
@inproceedings{Forster2014ICRA,
author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide},
title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2014}
}
Documentation
OpenCL documentation
The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/
The GTSAM documentation https://gtsam.org/tutorials/
Instructions
Please be sure that you have the OpenCL driver installed
First install gtsam library => https://github.com/borglab/gtsam
Then follow the SVO instalation
See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/
Setting
You can edit the algorithm parameters in the follwoing file, please look at the config file to underestand the meaning of the parameters (CPU_version/svo/include/svo/config.h)
CPU_version/vio_svo/param/vo_fast.yaml
the GPU_version
Dose not have dependency with GTSAM, the dependencies are:
- OpenCV 3
- Eigen
- Sophus https://github.com/strasdat/Sophus.git
- Boost
- OpenCL
if make fails in the build of Sophus with the error lvalue required as left operand of assignment in so2.cpp, see this issue: https://github.com/uzh-rpg/rpg_svo/issues/237