limo_vi_project

we used limo(https://github.com/johannes-graeter/limo.git) This repository made for visual intelligent term project

interest sources

src/limo/keyframe_bundle_adjustment_ros_tool/src/mono_lidar/mono_lidar.cpp
src/limo/keyframe_bundle_adjustment_ros_tool/src/mono_lidar/mono_lidar.hpp
src/limo/keyframe_bundle_adjustment_ros_tool/src/common/general_helpers.hpp

Usage

sould be changed :

src/limo/keyframe_bundle_adjustment_ros_tool/src/mono_lidar/mono_lidar.cpp

1. build :

cd src/limo && bash install_repos.sh

2. source update (optional):

cd ~ && source ${your catkin limo dir}/devel_limo_release/setup.bash

3. run rosbag :

rosbag play 04.bag -r 0.1 --pause --clock (run roscore)

4. run node :

roslaunch demo_keyframe_bundle_adjustment_meta kitti_standalone.launch

-> test.txt file will be created (test.txt : estimated pose data file.)

evaluation

download (evaluate_odometry.cpp, matrix.cpp, matrix.h, mail.h, 04.txt) in limo directory

required :

pdfcrop : sudo apt-get -y install texlive-extra-utils

gnuplot : sudo apt-get -y install gnuplot

setup :

make resulto4 directory in limo direcotry (cd src/limo && mkdir resulto4)

move test.txt file in the result04 directory

1. g++ -O3 -DNDEBUG -o evaluate_odometry evaluate_odometry.cpp matrix.cpp

2. ./evaluate_odometry 04

-> evaluation files will be created in the result04 directory.