Fast Visual Odometry on TUM-RGBD Dataset

Table of Contents

• Prerequisites
• Build Instructions
• Code Design and Style Guide

Developers

• Maximilian Pries — maxwell6q
• Bjørn Magnus Myrhaug — BjornMagnusM
• Nihal Suri — nihalsuri

Prerequisites

This project requires OpenCV 4 (the CMake configuration expects the opencv4 layout). The project was developed and tested with OpenCV 4.x — we recommend OpenCV 4.5 or newer. It also depends on Eigen3 and requires CMake >= 3.10 and a C++20-capable compiler.

If you have a custom OpenCV installation, you can either set OpenCV_DIR when configuring CMake or enable the USE_LOCAL_OPENCV option in CMakeLists.txt and point OpenCV_DIR to your local OpenCV cmake folder.

Windows (recommended: vcpkg)

1. Install vcpkg (if not installed):

git clone https://github.com/microsoft/vcpkg.git
cd vcpkg
.\bootstrap-vcpkg.bat

2. Install OpenCV and Eigen via vcpkg:

.\vcpkg\vcpkg.exe install opencv4:x64-windows eigen3:x64-windows

3. Configure CMake to use the vcpkg toolchain (example from project root — adjust the path):

cmake -S . -B build -DCMAKE_TOOLCHAIN_FILE=C:/path/to/vcpkg/scripts/buildsystems/vcpkg.cmake
cmake --build build

Alternative (prebuilt OpenCV on Windows): download a prebuilt OpenCV package, extract it, and set OpenCV_DIR to the folder containing OpenCVConfig.cmake. Example:

cmake -S . -B build -DOpenCV_DIR="C:/path/to/opencv/build"
cmake --build build

Ubuntu / Debian

sudo apt update
sudo apt install -y libopencv-dev libeigen3-dev build-essential cmake

If you need a newer OpenCV than provided by your distribution, build OpenCV from source and set OpenCV_DIR to the build directory when running CMake.

Notes

• The top-level CMakeLists.txt provides an option USE_LOCAL_OPENCV for pointing to a custom OpenCV installation.
• The project uses C++20; ensure your compiler supports it.

Build Instructions

# Create the build directory in the root of the project 
mkdir build
cd build

# Configure the project using CMake
cmake ..

# Compile the project
make

# Run the executable
./VisualOdometry_Final

The above instructions will create a /results directory.

Code Design and Style Guide

All contributors swear to follow these points with the utmost care:

• No usage of GLOBAL VARIABLES!
• Final project musn't have binary files included
• Usage of a single CMakeLists.txt with more add_executable commands
• Compile the code, and make sure it runs bug free before pushing
• Include guards to be added in Header file
• A header file musn't contain function definitions, only declerations!
• Never #include a .cpp file
• Never add absolute paths in code
• Always check command-line arguments, before processing them, use std::cerr for debugging purposes
• Define GUI names as const variables
• Don't mix more than one activity in a single function, for example maxfilter should only apply the filter, not visualize it as well
• Pass by reference or pointer to be used in functions, for example const cv::Mat& src
• For the sake of clarity:
  • No usage of namespaces
  • Only camelCase to be used, fyi case guide
  • When it comes to comments, follow only the the google c++ style guide

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