{"id":13528647,"url":"https://github.com/KumarRobotics/sdd_vio","last_synced_at":"2025-04-01T14:32:40.186Z","repository":{"id":80610377,"uuid":"177334245","full_name":"KumarRobotics/sdd_vio","owner":"KumarRobotics","description":"Semi-Dense Direct Visual-Inertial Odometry","archived":false,"fork":false,"pushed_at":"2021-03-22T18:12:38.000Z","size":3630,"stargazers_count":98,"open_issues_count":0,"forks_count":22,"subscribers_count":5,"default_branch":"master","last_synced_at":"2025-03-25T09:02:43.713Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/KumarRobotics.png","metadata":{"files":{"readme":"readme.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2019-03-23T19:58:27.000Z","updated_at":"2025-03-22T10:20:04.000Z","dependencies_parsed_at":null,"dependency_job_id":"bd702f11-a031-4adb-bc2b-57fd06290628","html_url":"https://github.com/KumarRobotics/sdd_vio","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fsdd_vio","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fsdd_vio/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fsdd_vio/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/KumarRobotics%2Fsdd_vio/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/KumarRobotics","download_url":"https://codeload.github.com/KumarRobotics/sdd_vio/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":246655196,"owners_count":20812596,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-08-01T07:00:22.285Z","updated_at":"2025-04-01T14:32:39.895Z","avatar_url":"https://github.com/KumarRobotics.png","language":"C++","readme":"# Semi-Dense Direct Visual Inertial Odometry\n\n[Low Texture Dataset](https://drive.google.com/drive/folders/1U8gvH7T0CkGYPr03miqyINjqM0vNap5n?usp=sharing) (11 Rosbags, 4.9GB) \\\n[Video - EuRoC Dataset](https://drive.google.com/file/d/1wPehEBmDj-Cq0U8H5JSmuaKKSnddE69D/view?usp=sharing) \\\n[Video - Low Texture Dataset](https://drive.google.com/file/d/1c6ZSkqv6xGx2S8TW6gCO22NPK98iA_ho/view?usp=sharing) \\\n[Video - Flight](https://drive.google.com/file/d/1nz2vDpdt20K8VT4DuHf5OBYkbVfet-z6/view?usp=sharing)\n\n### Instructions\n\nIn ROS environment, compile the catkin package in RELEASE mode. To run the nodelet using low texture dataset\n```\nroslaunch sdd_vio vio_nodelet.launch\nroslaunch sdd_vio visualization.launch\n```\nthen play the bag files.\nTo run with EuRoC Dataset\n```\nroslaunch sdd_vio vio_nodelet_euroc.launch\n```\nTo use your own configuration change the config yaml file and use calibration procedures below.\n\n### Calibration file\nThis package takes in a stereo calibration yaml file as input, and [Kalibr](https://github.com/ethz-asl/kalibr) format is accepted.\nAn example calibration file looks like follows:\n```\ncam0:\n  T_cam_imu:\n  - [-0.010944628415755053, 0.999681932600619, 0.022721107823566122, 0.02204409545771752]\n  - [-0.24433953077738618, -0.024707336115557976, 0.9693749229485756, -0.004840907304875826]\n  - [0.9696279744357241, 0.005057783502870783, 0.2445322269511941, -0.014140552900908787]\n  - [0.0, 0.0, 0.0, 1.0]\n  camera_model: pinhole\n  distortion_coeffs: [-0.00966481, -0.00611693, -0.00043361, 0.00247824]\n  distortion_model: radtan\n  intrinsics: [438.327, 438.04, 326.966, 244.717]\n  resolution: [640, 480]\n  rostopic: /cam0/image_raw\ncam1:\n  T_cam_imu:\n  - [-0.0034837082769738625, 0.999800943534273, 0.019645281484841126, -0.05783642507968116]\n  - [-0.23039691655783784, -0.01991935443843984, 0.9728928410464314, -0.004976419765158304]\n  - [0.973090501760901, -0.0011369374360561402, 0.23042044778184256, -0.01442186798130469]\n  - [0.0, 0.0, 0.0, 1.0]\n  T_cn_cnm1:\n  - [0.9999674298999375, -0.00480756708912238, 0.0064827801488079, -0.07981140545]\n  - [0.004713793040877623, 0.9998851514964509, 0.014403609705481836, -3.630473e-05]\n  - [-0.006551281931192101, -0.014372582094518168, 0.9998752470130735, -0.00020823841]\n  - [0.0, 0.0, 0.0, 1.0]\n  camera_model: pinhole\n  distortion_coeffs: [-0.015658, -0.00162092, -0.000711559, 0.000227274]\n  distortion_model: radtan\n  intrinsics: [432.493, 432.041, 319.181, 230.679]\n  resolution: [640, 480]\n  rostopic: /cam1/image_raw\n```\n`cam0` is the left camera and `cam1` is the right camera. `T_cn_cnm1` is the relative transformation from the right to the left camera.\n\n### Param file\nThe parameters for the EuRoC dataset are specified in `vo_param_euroc.yaml`. For snapdragon and low texture dataset, use `vo_param_snapdragon.yaml`.\n","funding_links":[],"categories":["3. Visual Inertial SLAM"],"sub_categories":["3.3 Stereo"],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FKumarRobotics%2Fsdd_vio","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FKumarRobotics%2Fsdd_vio","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FKumarRobotics%2Fsdd_vio/lists"}