Merge branch 'docs' into 'master'

Added KITTI to docs

See merge request basalt/basalt!35

CMakeLists.txt

@@ -279,6 +279,7 @@ if(realsense2_FOUND)
       ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
 endif()
 
+install(PROGRAMS scripts/basalt_convert_kitti_calib.py DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
 
 file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
 install(FILES ${CONFIG_FILES}

README.md

@@ -58,6 +58,7 @@ NOTE: It is possible to compile the code on Ubuntu 16.04, but you need to instal
 ## Usage
 * [Camera, IMU and Mocap calibration. (TUM-VI, Euroc, UZH-FPV and Kalibr datasets)](doc/Calibration.md)
 * [Visual-inertial odometry and mapping. (TUM-VI and Euroc datasets)](doc/VioMapping.md)
+* [Visual odometry (no IMU). (KITTI dataset)](doc/Vo.md)
 * [Simulation tools to test different components of the system.](doc/Simulation.md)
 
 ## Development

doc/Vo.md

@@ -0,0 +1,25 @@
+## KITTI dataset
+
+[![teaser](/doc/img/kitti_video.png)](https://www.youtube.com/watch?v=M_ZcNgExUNc)
+
+We demonstrate the usage of the system with the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as an example.
+
+**Note:** The path to calibration and configuration files used here works for the APT installation. If you compile from source specify the appropriate path to the files in [data folder](/data/).
+
+Download the sequences (`data_odometry_gray.zip`) from the dataset and extract it. 
+```
+# We assume you have extracted the sequences in ~/dataset_gray/sequences/
+# Convert calibration to the basalt format
+basalt_convert_kitti_calib.py ~/dataset_gray/sequences/00/
+
+# If you want to convert calibrations for all sequences use the following command
+for i in {00..21}; do basalt_convert_kitti_calib.py ~/dataset_gray/sequences/$i/; done
+```
+Optionally you can also copy the provided ground-truth poses to `poses.txt` in the corresponding sequence.
+
+### Visual odometry
+To run the visual odometry execute the following command.
+```
+basalt_vio --dataset-path ~/dataset_gray/sequences/00/ --cam-calib /work/kitti/dataset_gray/sequences/00/basalt_calib.json --dataset-type kitti --config-path /usr/etc/basalt/kitti_config.json --show-gui 1 --use-imu 0
+```
+![magistrale1_vio](/doc/img/kitti.png)