This is designed to read the dump file and do custom analysis. In the dump folder you should see:

• log.json
• log.txt
• cameraIntrinsic.K
• cameraIntrinsic.D
• cameraIntrinsic.info
• for all i in range(0,n)
  • i.jpg #the image
  • i.id #global ids of the tracked features Nx1
  • i.unvn #tracked points in normalized image cords
  • i.uv #tracked points raw
  • i.cX.pointcloud # 3d points estimated from raws tracks. cX.
  • i.wX.pointcloud # 3d points estimated from raws tracks. wX. world here is the 1st frame of the odometry. It ofcourse drifts as time passes.
  • i.wTc

I am happy to provide a sample dump folder as a tarball. Email if you want to try.

Uses CMakeLists.standalone.txt. Mainly has util for intrinsic camera calib for monocular and stereo camera.

mkdir build
cmake .. -DSTANDALONE=ON
make

calibration. About 50-100 images are enought.

./intrinsic_calib -i /Bulk_Data/ros_bags/mynteye/calib/calib1/ -p cam0_ -e .png -w 8 -h 12 -s 80

./stereo_calib -i /Bulk_Data/ros_bags/mynteye/calib/calib1_sampled/  --prefix-l cam0_ --prefix-r cam1_ -e .png -w 8 -h 12 -s 80 --opencv -v

Uses CMakeLists.rospkg.txt

This can also be put in a catkin_ws and will compile with catkin_make.

• src_geometry : Scripts (both py and cpp) for experiments related to geometry and pose computation

• src_place_recog : Scripts related to experiements on recognizing places.

• include : ros generated include

• rviz : .rviz files

• utils : my collection of cpp utils. This can be included in cpp programs

In src_geometry, I am trying some algorithms from TheiaSFM.

• Install Open Image IO. github-repo

  $ git checkout Release-1.7.6RC1
  $ make -j 12
  $ cd dist/linux64
  $ #since there is no make install, will have to manually copy include, lib, share
  

• Install rocksdb

      $ make shared_lib
      $ make install
  

• Install TheiaSFM