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libviso: Visual Odometry library

You will need to download kitti dataset if you would like to test the code: here: http://www.cvlibs.net/download.php?file=data_odometry_gray.zip

Edit src/CMakeLists.txt and set opencv and eigen path's. You can download eigen here http://eigen.tuxfamily.org/.

Build the code:

mkdir debug
cd debug
cmake ..
make

After you do this you will have debug/src/kitti executable. set KITTI_HOME env variable to where you put your kitti data and now you can run the exec:

  • result_sha is a run name (your choose it)
  • seq_name is the name of kitti sequence (i.e., 00)
  • begin end are first and last frame that will be processed