Dependencies

• fftw3
• OpenCV 4.2
• Eigen
• Ceres

Compile

    mkdir build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make

Mac OS X

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS='-isystem /usr/local/include' ..

Run

./image_main <path to load images> output/<path to save results>

the input directory structure are like this

- <data_dir>
  - Images (this is a directory)
  - cam_param.yaml (the format is like the below part)
  - imageList.txt (each line is the name of image in Images. you can generate this file with `ls Images > imageList.txt` in <data_dir>)
  - timestamps.txt (the content of this is not necessary)

cam_param.yaml

%YAML:1.0

Camera.type: "PinHole"

Camera.fx: 2955.7
Camera.fy: 2949.9
Camera.cx: 2023.1
Camera.cy: 1510.7

Camera.k1: 0.1601
Camera.k2: -0.3277
Camera.p1: -0.00073991
Camera.p2: 0.0051

Camera.width: 4056
Camera.height: 3040

Noted, there should be a directory txt under output.

License

This project is licensed under the GPLv3 License. The license of the original Python version by Gohlke and Týč can be found here.