Visual Odometry, proposed solution

This is our proposed solution for the lab "Visual Odometry" in the computer vision course TEK5030 at the University of Oslo.

Please see the lab guide for more information.

Prerequisites

As in lab-stereo, you will need to install the tek5030 camera-library for the lab. Head over to the repository and follow the installation instructions.
Note: The camera-library is preinstalled on the lab computers and in the tek5030/devcontainer Docker image.

For this lab, we can unfortunately not rely on conan to install all required OpenCV modules (namely the viz module for 3D visualization). You have a few other options:

Solve the python lab (recommended)
Use the lab computers
Install OpenCV using homebrew (option for mac and linux). (See also Getting started on MacOS.)
Try Docker toolchain in CLion (fairly experimental)
Try devcontainer in VS Code (fairly experimental)
Rely on virtualbox and our prepared linux image with dependencies preinstalled (see Canvas: Setting up your computer for the labs)

Name		Name	Last commit message	Last commit date
Latest commit History 15 Commits
.devcontainer		.devcontainer
.vscode		.vscode
.clang-format		.clang-format
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README.md		README.md
calibrated_camera.h		calibrated_camera.h
calibrated_opencv_camera.cpp		calibrated_opencv_camera.cpp
calibrated_opencv_camera.h		calibrated_opencv_camera.h
calibrated_realsense_camera.cpp		calibrated_realsense_camera.cpp
calibrated_realsense_camera.h		calibrated_realsense_camera.h
correspondences.cpp		correspondences.cpp
correspondences.h		correspondences.h
dlt_points_estimator.cpp		dlt_points_estimator.cpp
dlt_points_estimator.h		dlt_points_estimator.h
feature_utils.cpp		feature_utils.cpp
feature_utils.h		feature_utils.h
frame.cpp		frame.cpp
frame.h		frame.h
intrinsic_calibration.cpp		intrinsic_calibration.cpp
intrinsic_calibration.h		intrinsic_calibration.h
lab_vo.cpp		lab_vo.cpp
lab_vo.h		lab_vo.h
main.cpp		main.cpp
map.cpp		map.cpp
map.h		map.h
matcher.cpp		matcher.cpp
matcher.h		matcher.h
moba_pose_estimator.cpp		moba_pose_estimator.cpp
moba_pose_estimator.h		moba_pose_estimator.h
pnp_pose_estimator.cpp		pnp_pose_estimator.cpp
pnp_pose_estimator.h		pnp_pose_estimator.h
point_measurement.cpp		point_measurement.cpp
point_measurement.h		point_measurement.h
points_estimator.h		points_estimator.h
pose_estimator.h		pose_estimator.h
pose_measurement.cpp		pose_measurement.cpp
pose_measurement.h		pose_measurement.h
relative_pose_estimate.cpp		relative_pose_estimate.cpp
relative_pose_estimate.h		relative_pose_estimate.h
scene_3d.cpp		scene_3d.cpp
scene_3d.h		scene_3d.h
soba_points_estimator.cpp		soba_points_estimator.cpp
soba_points_estimator.h		soba_points_estimator.h
two_view_relative_pose_estimator.cpp		two_view_relative_pose_estimator.cpp
two_view_relative_pose_estimator.h		two_view_relative_pose_estimator.h

License

tek5030/solution-simple-vo

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Visual Odometry, proposed solution

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