DVO core (without ROS dependency)

This repository is a stripped version of the original DVO algorithm. It only contains dvo_core, without the visualization (VTK) and ROS dependencies.

Very few modifications have been done, appart from removing a lot of code. They are all visible in the commits history, but here are a few explanations of them:

• Remove everything except dvo_core.
• Update sophus usage to the recent templated version (3ed62aee).
• Re-orthogonalization of the rotation found before feeding it to Sophus::SE3 (adfa21ce), to avoid crashes due to verification of orthogonal matrix.
• Change CMakeLists.txt to mirror the simpler dependencies (96ce0e7).
• Add a Dockerfile for Docker users (700f5812). It provides a container config ready to compile the code. Reading it is useful for figuring out exact dependencies from a fresh Ubuntu 18.10 system.

All this was done to make testability easier on recent systems. Check out mpizenberg/rgbd-tracking-evaluation if interested.

Dependencies

• cmake
• OpenCV
• Eigen 3
• Boost
• Sophus

Exact dependencies from a fresh Ubuntu 18.10 install are visible in the Dockerfile.

Usage

This project builds a shared library named dvo_core. To build it, do as usual:

mkdir build
cd build
cmake ..
make

To use the library in another project, simply use these three cmake commands in your CMakeLists.txt:

• include_directories( path/to/this/include )
• link_directories( path/to/this/build )
• target_link_libraries( your_executable dvo_core other_linked_libs )

An example usage is provided in mpizenberg/rgbd-tracking-evaluation.