Merge branch 'docs' into 'master'

Added KITTI to docs

See merge request basalt/basalt!35
This commit is contained in:
Vladyslav Usenko 2019-09-10 15:40:06 +00:00
commit c3a95870df
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ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib) ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
endif() endif()
install(PROGRAMS scripts/basalt_convert_kitti_calib.py DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json") file(GLOB CONFIG_FILES "${CMAKE_CURRENT_SOURCE_DIR}/data/*.json")
install(FILES ${CONFIG_FILES} install(FILES ${CONFIG_FILES}

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## Usage ## Usage
* [Camera, IMU and Mocap calibration. (TUM-VI, Euroc, UZH-FPV and Kalibr datasets)](doc/Calibration.md) * [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-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) * [Simulation tools to test different components of the system.](doc/Simulation.md)
## Development ## Development

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## 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)

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