{"id":29021692,"url":"https://github.com/mapiv/iris","last_synced_at":"2025-07-13T07:07:38.715Z","repository":{"id":49565386,"uuid":"291638206","full_name":"MapIV/iris","owner":"MapIV","description":null,"archived":false,"fork":false,"pushed_at":"2021-06-14T11:46:42.000Z","size":38096,"stargazers_count":157,"open_issues_count":5,"forks_count":45,"subscribers_count":13,"default_branch":"master","last_synced_at":"2023-11-07T18:24:22.958Z","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":"other","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MapIV.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}},"created_at":"2020-08-31T06:52:19.000Z","updated_at":"2023-08-15T12:24:10.000Z","dependencies_parsed_at":"2022-09-21T14:03:08.516Z","dependency_job_id":null,"html_url":"https://github.com/MapIV/iris","commit_stats":null,"previous_names":[],"tags_count":0,"template":null,"template_full_name":null,"purl":"pkg:github/MapIV/iris","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Firis","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Firis/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Firis/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Firis/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MapIV","download_url":"https://codeload.github.com/MapIV/iris/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MapIV%2Firis/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":261984645,"owners_count":23240305,"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":"2025-06-26T02:07:30.357Z","updated_at":"2025-06-26T02:07:33.682Z","avatar_url":"https://github.com/MapIV.png","language":"C++","readme":"\u003cspan style=\"color: orange;\"\u003eModifications are underway.\u003c/span\u003e\n\n\n# *Iris*\n* Visual localization in pre-build pointcloud maps.\n* ~~**OpenVSLAM** and **VINS-mono**  can be used.~~ \u003cspan style=\"color: orange;\"\u003eModifications are underway.\u003c/span\u003e\n\n\n## Video\n[![](https://img.youtube.com/vi/a_BnifwBZC8/0.jpg)](https://www.youtube.com/watch?v=a_BnifwBZC8)\n\n\n## Submodule \n* [OpenVSLAM forked by MapIV](https://github.com/MapIV/openvslam.git)\n\u003e ~~[original repository (xdspacelab)](https://github.com/xdspacelab/openvslam)~~\n\n\n## Dependency\nIf you are using ROS, you only need to install `g2o` and `DBoW2`.\n* [ROS](http://wiki.ros.org/)\n* [OpenCV](https://opencv.org/) \u003e= 3.2\n* [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) \n* [PCL](https://pointclouds.org/)\n* [g2o](https://github.com/RainerKuemmerle/g2o)\n* [DBow2](https://github.com/shinsumicco/DBoW2.git)\n  * Please use the custom version released in [https://github.com/shinsumicco/DBoW2](https://github.com/shinsumicco/DBoW2)\n\n\u003e ~~see also: [openvslam](https://openvslam.readthedocs.io/en/master/installation.html#dependencies).~~ \u003cspan style=\"color: orange;\"\u003eModifications are underway.\u003c/span\u003e\n\n## How to Build\n```bash\nmkdir -p catkin_ws/src\ncd catkin_ws/src\ngit clone --recursive https://github.com/MapIV/iris.git\ncd ..\ncatkin_make\n```\n\n## How to Run with Sample Data\n### Download sample data\n1. visual feature file: `orb_vocab.dbow` from [URL](https://www.dropbox.com/s/z8vodds9y6yxg0p/orb_vocab.dbow2?dl=0)\n2. pointcloud map : `kitti_00.pcd` from [URL](https://www.dropbox.com/s/tzdqtsl1p7v1ylo/kitti_00.pcd?dl=0)\n3. rosbag : `kitti_00_stereo.bag` from [URL](https://www.dropbox.com/s/kfouz9gkjefpvb5/kitti_00_stereo.bag?dl=0)\n\n### Run with sample data\n#### Stereo camera sample\n```bash\nroscd iris/../../../\n# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)\nls # \u003e build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag\nroslaunch iris stereo_kitti00.launch\nroslaunch iris rviz.launch # (on another terminal)\nrosbag play kitti_00_stereo.bag # (on another terminal)\n```\n\u003e If the estimated position is misaligned, it can be corrected using `2D Pose Estimate` in rviz.\n\n#### Monocular camera sample\n```bash\nroscd iris/../../../\n# download sample data to here (orb_voceb.dbow, kitti_00.pcd, kitti_00_stereo.bag)\nls # \u003e build devel install src orb_vocab.dbow kitti_00.pcd kitti_00_stereo.bag\nroslaunch iris mono_kitti00.launch\nroslaunch iris rviz.launch # (on another terminal)\nrosbag play kitti_00_stereo.bag # (on another terminal)\n```\n\u003e If the estimated position is misaligned, it can be corrected using `2D Pose Estimate` in rviz.\n\n\n## How to Run with Your Data\n### All you need to prepare\n1. pointcloud map file (*.pcd)\n1. rosbag (*.bag)\n1. Config file for iris such as `config/sample_iris_config.yaml`\n1. (only if you use OpenVSLAM) Config file for vSLAM such as `config/sample_openvslam_config.yaml` \n\n### Run\n```bash\nroslaunch iris openvslam.launch iris_config_path:=... \nrosbag play yours.bag # (on another terminal)\n```\n\n## License\n~~Iris is provided under the BSD 3-Clause License.~~\n\u003cspan style=\"color: orange;\"\u003eModifications are underway.\u003c/span\u003e\n\nThe following files are derived from third-party libraries.\n* `iris/src/optimize/types_gicp.hpp` : part of [g2o](https://github.com/RainerKuemmerle/g2o) (BSD)\n* `iris/src/optimize/types_gicp.cpp` : part of [g2o](https://github.com/RainerKuemmerle/g2o) (BSD)\n* `iris/src/pcl_/correspondence_estimator.hpp` : part of [pcl](https://github.com/PointCloudLibrary/pcl) (BSD)\n* `iris/src/pcl_/correspondence_estimator.cpp` : part of [pcl](https://github.com/PointCloudLibrary/pcl) (BSD)\n* `iris/src/pcl_/normal_estimator.hpp` : part of [pcl](https://github.com/PointCloudLibrary/pcl) (BSD)\n* `iris/src/pcl_/normal_estimator.cpp` : part of [pcl](https://github.com/PointCloudLibrary/pcl) (BSD)\n\n\n## Reference\n- T. Caselitz, B. Steder, M. Ruhnke, and W. Burgard, “Monocular camera localization in 3d lidar maps,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016, pp. 1926–1931.\n\u003e http://www.lifelong-navigation.eu/files/caselitz16iros.pdf\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmapiv%2Firis","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmapiv%2Firis","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmapiv%2Firis/lists"}