Visual Odometry Kit

Some algorithm modules for VO, the Kit just for verification. May be not enough stable ！

Prerequisites

This is tested in Ubuntu 16.04.

C++11

OpenCV

We use OpenCV 3.2.0.

Eigen

we use Eigen 3.2.29

Modules

1.math_utils

some Mathematical tools

• Nonlinear least-square optimizer for simple problem. (lack of sparse solve and marginalization etc.)

• Base function for SO3 SE3 quaternion max min etc.

2.alignment

The module contains feature alignment and sparse image alignment based on inverse compositional.

TODO NEXT

Build and Run

After clone it, build:

 mkdir build && cd build
 cmake ..
 make -j

Then run their test demos

 # math_utils
 ./bin/test_optimizer