This is a simple frame to frame visual odometry.
- kitti demo
build step:
cd robust-vslam
mkdir build
cd build
cmake ..
make -j2
run:
./run_kitti_stereo ../config/default.yaml
- ROS
build step:
cd robust-vslam/app/ros/robust-vslam
mkdir build
cd build
cmake ..
make -j2
source devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/lzb/Projects/robust-vslam/app/ros/robust-vslam
run:
cd robust-vslam/app/ros/robust-vslam
./lzb_vio_ros ../../../config/default.yaml
rosbag play xxx.bag
FAST Feature detector and LK matching:
orb Feature detector and opencv matching:
