PL_VO

1.Description

The RGB-D vision odometry with point feature and line feature.

2.Prerequisites

OpenCV

Dowload and install instructions can be found at: http://opencv.org.

Tested with OpenCV 3.2.

glog

download new version gflag and compile.

$ git clone https://github.com/gflags/gflags.git

$ mkdir build & cd build

$ cmake -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC ..

$ make & sudo make install

$ git clone https://github.com/google/glog.git

$ cd glog

$ mkdir build && cd build

maybe you need to install cmake3

$ sudo apt-get install cmake3

$ export CXXFLAGS="-fPIC" && cmake .. && make VERBOSE=1

$ make

$ sudo make install

Eigen

Download and install instructions can be found at: http://eigen.tuxfamily.org.

Tested with Eigen 3.2.1

Ceres

Dowload and install instructions can be found at: http://www.ceres-solver.org/installation.html

Sophus

$ git checkeout a621ff2

3.Building

$ mkdir build

$ cd build

$ make -j2

4.Test

1. test_line_feature
   line feature detection use the lsd original code and opencv code
2. test_line_match
   line feature detection and matching use the lsd and lbd algorithm in the opencv.