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