zhaohhuicug / sdso

Stereo Direct Sparse Odometry for mapping with ROS support

SDSO: Stereo Direct Sparse Odometry

Stereo Direct Sparse Odometry package, which supports ROS interface. Mostly designed for mapping purposes upon DSO and Stereo DSO libraries.

Related Papers:

• Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016
• Large-scale direct SLAM with stereo cameras, J. Engel, J. Stückler, D. Cremers, IROS, 2015

Installation

The package requires pre-installed libraries that are the same as for Stereo DSO. Also, PCL library is required for use of ROS interface.

# Create a workspace (really better to use catkin tools)
mkdir -p ~/workspace/src
catkin init
catkin config --extend /opt/ros/noetic
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON

# Build cv_bridge from source
cd ~/workspace/src
git clone [email protected]:WFram/cv_bridge_local.git
cd ~/workspace
catkin build cv_bridge

# Build sdso
cd ~/workspace/src
git clone -b devel/cv_bridge_deps [email protected]:WFram/sdso.git

# In case of using ARM
# cd ~/workspace/src/sdso
# git submodule update --init

cd ~/workspace
catkin build sdso

# Run
source devel/setup.bash
roslaunch sdso zed2_odometry.launch use_rviz:=true

Configuring

Topics for stereo images and path to camera calibration settings can be set in .launch files. Several options for output point cloud filtering are available to configure in common.yaml.