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VisualSLAM

Visual-based Navigation project

Notes:

  1. Please create a feature branch for your work and use master branch only for working solutions.
  2. No build flies, images or executables are allowed to be commited to the repository.
  3. CMake is used to build the project

How to build and run the code:

  1. Download and install VTK for opencv Viz module: https://www.vtk.org/download/
  2. If you have already installed OpenCV, you need to reinstall it such that OpenCV can find freshly-installed VTK library (credits to https://stackoverflow.com/questions/23559925/how-do-i-use-install-viz-in-opencv?utm_medium=organic&utm_source=google_rich_qa&utm_campaign=google_rich_qa)
  3. Note: [..] means an optional command-line argument
mkdir build
cmake ..
make
./slam ../data/left/ ../data/right/ ../data/calib.txt 10 [../data/groundTruth.txt]

## only 22 for visualization otherwise we can only see pose data
./slam ../data/left/ ../data/right/ ../data/calib.txt 22