svo_pro_universal

This repo is the plain CMake version for rpg_svo_pro_open. Check the original repo for detail.

Check branch wasm for WebAssembly version (odometry only).

And now it supports:

• mono/stereo visual-odometry
• mono/stereo visual-inertial-odometry

What is on working:

• mono/stereo visual-inertial-SLAM
• mono/stereo visual-inertial-SLAM with loop closure

No Bundle-Adjustment. Still on working.

Ceres backend are not integrated into the system yet.

The core codes for compile are in src/ folder. And the extra/ folder includes the additional parts which are not integrated into current system.

notes

The main system APIs can be founded in src/svo/svo_factory.h

EuRoC example can be found in examples/

Pangolin is used for lightweight visualization. Codes for simple viewer are in src/visualize

Type GLOG_v=${level} as command prefix to set glogv level.

install

Make sure you have installed:

• OpenCV 4.x
• Eigen 3.4.0
• OpenGV
• Ceres-Solver
• Glog
• yaml-cpp
• pangolin

Then run the following commands:

# clone the repo
cd svo_pro_universal

mkdir build
cd build

cmake ..
make -j4

test on EuRoC

test for monocular

cd build/examples
GLOG_v=100 ./euroc_mono ../../examples/param/calib/euroc_mono.yaml ../../examples/param/pinhole.yaml ~/dataset/euroc/V101/mav0/

test for monocular-intertial

cd build/examples
GLOG_v=100 ./euroc_mono_imu ../../examples/param/calib/euroc_mono.yaml ../../examples/param/pinhole_fixed.yaml ~/dataset/euroc/V101/mav0/

preview

*The blue line is the poses estimated by frames (with imu prior) and the red line is the poses estimated by imu data