DH-PTAM

This python research project is the complete implementation of DH-PTAM.

Requirements

• Python 3.6+
• numpy, numba, hdf5plugin, progress, tqdm, skimage, scipy, argparse
• cv2
• g2o _{(python binding of C++ library g2o)} for optimization
• pangolin _{(python binding of C++ library Pangolin)} for visualization

Usage

• The entry point where we select the dataset and DH-PTAM parameters selection: main_DH-PTAM.py
• Setting parameters configuration: params.py
• Setting datasets configuration (Set for TUM-VIE and VECtor): dataset_config.py

Results

The trajectories of all experiments reported in the paper are given in:

• /DH_PTAM/results/save/

Credits

The backend of this project is based on:

• PySLAM: https://github.com/luigifreda/pyslam
• S-PTAM: https://github.com/uoip/stereo_ptam