bartn8 / stereo-vision

Stereo Structure and Motion (SaM / SfM) library

Build

#--BUILD OPENCV

# Install minimal prerequisites (Ubuntu 18.04 as reference)
sudo apt update && sudo apt install -y cmake g++ wget unzip
# Download and unpack sources
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.x.zip
unzip opencv.zip
# Create build directory
mkdir -p build && cd build
# Configure
cmake  ../opencv-4.x
# Build
cmake --build .

sudo make install

#--BUILD PACKAGES
cmake --build .

Egomotion

• Implemented using Ceres Solver, two basic variants with Quaternions and Euler angles
• Examples in stereo_egomotion/main

Dense stereo

• Implementation of Semi-global matching in reconstruction/base
• Examples in reconstruction/main

Feature tracking

• Monocular and steresopic variants.
• Implementation in tracker directory

Publications

• Improving the Egomotion Estimation by Correcting the Calibration Bias
• Code in deformation_field