ChangeList， compare with the origin svo:

1. add edgelete feature
2. inition VO: auto select H model and E model
3. keyframe selection strategy
4. add pangolin to draw trajectory and remove ROS

• boost - c++ Librairies (thread and system are needed)

  sudo apt-get install libboost-all-dev

• Eigen 3 - Linear algebra

  apt-get install libeigen3-dev

• OpenCV3

• Sophus - Lie groups we have intergrated sophus in our code. Thanks for the code: https://github.com/strasdat/Sophus.git

• g2o - General Graph Optimization OPTIONAL Only required if you want to run bundle adjustment. It is not necessary for visual odometry. I suggest an out-of-source build of g2o:

  cd workspace

  git clone https://github.com/RainerKuemmerle/g2o.git

  cd g2o

  mkdir build

  cd build

  cmake ..

  make

  sudo make install

If you want use g2o, please set flag in cmakerlists.txt：

SET(HAVE_G2O TRUE) #TRUE FALSE

compile：

mkdir build cd build cmake .. make

test file, test_pipline and test_live_vo:

Offline datasets：

To run on tum dataset：test_pipline
To run on euroc dataset：test_piplel_euroc

Online camera：test_live_vo

Yijia He, Institute of Automation, Chinese Academy of Sciences

Wei Wei, Institute of Computing Technology, Chinese Academy of Sciences

Yanan Gao, Institute of Computing Technology, Chinese Academy of Sciences