https://github.com/powei-lin/tiny-vo
Minimun c++ code to show how visual odometry works.
https://github.com/powei-lin/tiny-vo
slam visual-odometry
Last synced: about 1 month ago
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Minimun c++ code to show how visual odometry works.
- Host: GitHub
- URL: https://github.com/powei-lin/tiny-vo
- Owner: powei-lin
- License: mit
- Created: 2022-05-24T19:49:56.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2022-10-11T15:29:12.000Z (over 3 years ago)
- Last Synced: 2023-03-06T20:49:24.618Z (over 3 years ago)
- Topics: slam, visual-odometry
- Language: C++
- Homepage:
- Size: 737 KB
- Stars: 2
- Watchers: 2
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# tiny-vo
[](https://github.com/powei-lin/tiny-vo/actions?query=workflow%3AmacOS)
This project shows how minimum visual odometry works. Currently the process does not contain bundle adjustment.
## Build
```sh
git clone --recursive https://github.com/powei-lin/tiny-vo.git
cd tiny-vo && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Resease ..
make
```
## Download TUM-VI dataset
```sh
# https://vision.in.tum.de/data/datasets/visual-inertial-dataset
wget https://vision.in.tum.de/tumvi/exported/euroc/512_16/dataset-corridor4_512_16.tar
```
## Run
```sh
./main -i dataset-corridor4_512_16 -c config/eucm_512.json -d config/tum_vi_dataset.json
```
## TODO (Probably😪)
* [ ] IMU preintegration
* [ ] Bundle Adjustment
* [ ] KeyFrame