Copyright (c) <2018> <Jiawei Mo, Junaed Sattar>
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
cd ~/catkin_ws/src
git clone https://github.umn.edu/moxxx066/dsvo.git
cd ~/catkin_ws
catkin_make
Calibrate cameras using kalibr
Follow sample.launch
/cam_pose (geometry_msgs/PoseWithCovarianceStamped)
/points (sensor_msgs/PointCloud2)
vo.txt: generated odometry (time 0:dsvo;stereo_match x y z)
time.txt: computational time consumption, check time_format.txt for details
BLUR_SZ: blur size
BLUR_VAR: blur value
FEATURE_BLOCKS: divide image to blocks and detect feature on each block
FEATURE_THRES: feature threshold
FEATURES_PER_CELL: number of features per block
FEATURE_OF_PYMD: number of pyramid used to track new points
PROP_PYMD: number of pyramid used to propagate camera pose
PROP_MAX_STEP: max optimization step for camera pose propagation
PROP_PROJ_DIST: max projection dist for points to be inlier during camera pose propagation
PROP_PTS_RATIO: min ratio for successful camera pose propagation
PROP_MIN_POINTS: min inliers for successful camera pose propagation
KF_DIST: min dist for new keyframe
BA_INLIER_THRES: min ratio for successful bundle adjustment
BA_REPROJ_DIST: max projection dist for points to be inlier during bundle adjustment
BA_MAX_STEP: max optimization step for bundle adjustment
SCALE_PYMD: number of pyramid used to optimize scale
SCALE_MAX_STEP: max optimization step for scale optimization