Prerequisites:

Download the Visual Odometry dataset from Kitti Vision Benchmark Suite http://www.cvlibs.net/download.php?file=data_odometry_gray.zip
Download the Visual Odometry poses data http://www.cvlibs.net/download.php?file=data_odometry_poses.zip
Download the repository and extract it.
Download and install opencv (with opencv_contrib) with python 3.5+
Extract the dataset and poses data in the repository folder

Testing the code

Run test.py

Blue: Ground Truth
Red: Experimental Results