dvo_demo-code
this project is a simplify application based on Kerl's paper 《robust odometry estimation for rgb-d cameras》
you can use this project to learn direct visual odometry method.
pre-install:
sophus, eigen3, pcl, opencv.
you can download sophus from github.
usage
please download TUM RGBD datasets by yourself.
the main function in src/dvotest.cpp, you need change the dataset filepath to your own path.
result: