This is an OpenCV 3.0 and Ceres(is optional) based implementation of a stereo visual odometry algorithm.
- OpenCV
- Ceres(if you do not want to optimize the PNP result, you can remove all ceres code)
mkdir build
cd build
cmake ..
make
cd ${PROJECT_SOURCE_DIR}/bin
./KITTI
In order to run this algorithm, you need to have either your own data, or else the sequences from KITTI's Visual Odometry Dataset . In order to run this algorithm on your own data, you must modify the intrinsic calibration page path in the code.