Stereo Direct Sparse Odometry

Changes in this repository

• Created FullSystem/CoarseInitializerStereo for stereo initialization - note that we stick with block matching since it is fast and the quality of the inverse depth will not affect dso horribly, since it solves for it
• Altered util/ImageAndExposure to carry two images and baseline
• Altered util/DatasetReader to read kiti stereo data

Dependencies and how to Install Them (on debian-esque distros)

• Must have linux system (tested on ubuntu 16.04)
• ROS

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full	

• OpenCV

  Comes with ROS

• SuiteSparse, Eigen3, Boost $ sudo apt-get install libsuitesparse-dev libeigen3-dev libboost-all-dev

• Pangolin

$ git clone https://github.com/stevenlovegrove/Pangolin.git
$ cd Pangolin
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release .. && make -j && sudo make install

How to Compile

• Make a catkin workspace and clone this repo into it (or move the code into it from the Canvas submission)

$ mkdir catkin_ws && cd catkin_ws
$ mkdir src && cd src 
$ catkin_init_workspace
$ git clone https://github.com/rpng/dso.git # OR move the code here and unzip it

• Build the program using catkin and source the setup file

$ cd ..
$ catkin_make
$ source devel/setup.bash # or setup.zsh if you use zsh

How to Run on KITTI Sequence 00

• Download the dataset here and unzip it
• Move the directory kitti_odom containing the directory called 00 into /path/to/dso
• We provide a launch file for general use located at /path/to/dso/launch/kitti_general.launch
  • Note that if you did not move the dataset to /path/to/dso you can change the relative path in the launch file to run it
• Run dso!

$ cd /path/to/dso/launch
$ roslaunch kitti_general.launch

License

DSO was developed at the Technical University of Munich and Intel. The open-source version is licensed under the GNU General Public License Version 3 (GPLv3). For commercial purposes, we also offer a professional version, see http://vision.in.tum.de/dso for details.

All additional code added is released under the GNU General Public License Version 3 (GPLv3).