Edrak

I have developed this library during reading the slambook by Xiang Gao, Tao Zhang, Qinrui Yan and Yi Liu.

How to build

Conan package manager is used to install all the dependencies. Please install it first from here

1. Install Pangloin

$ git clone --recursive https://github.com/stevenlovegrove/Pangolin.git && cd Pangolin  && sudo apt update && ./scripts/install_prerequisites.sh recommended && cmake -B build && cmake --build build && sudo cmake --install build

2. Install g2o

$ sudo apt update && sudo apt install -y libcxsparse3 libsuitesparse-dev && git clone https://github.com/RainerKuemmerle/g2o.git && cd g2o && cmake -B build && cmake --build build && sudo cmake --install build

3. Build the project using Conan & Cmake

$ mkdir build && cd build
$ conan install .. -s build_type=Debug --build missing
$ cmake .. -DCMAKE_BUILD_TYPE=DEBUG
$ make

Run on KITTI VO sequence

1. Download KITTI VO sequences from here Visual Odometry / SLAM Evaluation 2012
2. Extract the sequence and optionally add a settings file inside the sequence
3. Run the KITTI_VO binary from build/bin/

$ ./build/bin/KITTI_VO /SEQUENCE_PATH/SEQUENCE_NUMBER

Screenshots

KITTI Dataset