Overview

pyviso2 is a thin SWIG Python wrapping of the visual odometry library, libviso2.

Status

Currently, the stereo demo included with libviso2 has been replicated in Python. The nested parameter classes used to configure the VisualOdometry* classes have been flattened and renamed in order to work with Python (see SWIG nested classes). In addition, a few overloaded methods have been renamed in order to work properly:

• Matrix::eye() member function has been renamed to Matrix::identity() to allow the static member function Matrix_eye(size) to be created.
• Matrix::inv() member function has been renamed to Matrix::setInverse() to allow the static member function Matrix_inv(Matrix) to be created.
• A VisualOdometryStereo::process_frame(img1,img2) has been added to support NumPy grayscale images.

Getting Started

Download the repository and enter the src directory.

$ git clone http://github.com/jlowenz/pyviso2.git

$ cd src

$ python setup.py build_ext -i

You should then be able to run demo.py <path to synchronized/rectified image directory>, or iPython and import viso2.

Requirements

pyviso2 requires SWIG 3.0. CMake and libpng are required if you want to build the C++ demo from the original source.

License

libviso2 is licensed under the GPL, therefore this software is under the GPL as well. Please see the original readme for more information.