A very simple stereo visual odometry library
Project description
toy_vo
A very simple stereo visual odometry library.
Run Example
You can download datasets from
Python
pip install toy-vo rerun-sdk==0.32 opencv-python scipy
python3 examples/run_stereo.py -d {your_path/V1_01_easy} -c configs/euroc --rerun
Rust
git clone https://github.com/powei-lin/toy_vo.git && cd toy_vo
cargo run -r --example run_stereo -- -d {your_path/dataset-corridor4_512_16} -c configs/tum_vi --rerun
Calibrate your own camera and run toy-vo
Use camera-intrinsic-calibration and format your images like euroc dataset.
Acknowledgements
Thanks to all the authors of these libraries.
And thanks to Hossam R. for implementing the LM method in tiny-solver.
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