https://github.com/tzutalin/opencv-rgbdodometry

:snowman: OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)
https://github.com/tzutalin/opencv-rgbdodometry

Last synced: 2 months ago
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:snowman: OpenCV RGBD-Odometry (Visual Odometry based RGB-D images)

• Host: GitHub
• URL: https://github.com/tzutalin/opencv-rgbdodometry
• Owner: tzutalin
• License: other
• Created: 2016-03-31T03:40:18.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2017-05-31T07:51:02.000Z (over 7 years ago)
• Last Synced: 2024-05-21T12:40:39.442Z (8 months ago)
• Language: C++
• Homepage:
• Size: 47.9 KB
• Stars: 111
• Watchers: 8
• Forks: 37
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# RGBD-Odometry (Visual Odometry based RGB-D images)

### Requirement

[OpenCV >= 3.0](http://tzutalin.blogspot.tw/2016/01/installing-opencv-310-and-contrib-lib.html)

### Setup

Download RGB-D dataset from [TUM](http://vision.in.tum.de/data/datasets) or [KTTI](http://www.cvlibs.net/datasets/kitti/eval_odometry.php)

 [main.cpp](https://github.com/tzutalin/OpenCV-RgbdOdometry/blob/master/src/main.cpp#L160) will read the path of color and depth images from ./assoc.txt, then run OpenCV RgbdOdometry to compute visual odometry

The format of assoc.txt looks like:

```

timestamp1 rgb/[color_image_filename1] timestamp1 depth/[depth_image_filename1]

...

timestampN rgb/[color_image_filenameN] timestampN depth/[depth_image_filenameN]

```

You should change camera paramerts at the top of [main.cpp](https://github.com/tzutalin/OpenCV-RgbdOdometry/blob/master/src/main.cpp#L24)

```

#define FOCUS_LENGTH 525.0

#define CX 319.5

#define CY 239.5

```

### Build & Run

For the first time, you should download the dataset. You can use the below command

`$ python tools/download_dataset.py`

Start building

`$ mkdir -p build; cd build`

`$ cmake ..; make`

Start running

`$ cd [Opencv-RgbdOdometry]`

Create assoc.txt having synchronized rgb and depth images

`$ cd rgbd_dataset_freiburg2_pioneer_slam3`

`$ python associate.py rgb.txt depth.txt > assoc.txt`

`$ ../build/rgbd-odometry`

### Demo video

[![Demo video](https://j.gifs.com/0RDJgK.gif)](https://www.youtube.com/watch?v=NS2L7_uHTAo&feature=youtu.be)

[![Demo video](https://j.gifs.com/lYEqx5.gif)](https://www.youtube.com/watch?v=NS2L7_uHTAo&feature=youtu.be)