SOFT SLAM

This repository is C++ OpenCV implementation of SOFT (Stereo Odometry based on careful Feature selection and Tracking): PDF The usage of each .h file should be found at the tests folder. Note the repo has not been finished.

Requirements

OpenCV 3.0

Eigen 3

Dataset

Tested on KITTI odometry dataset

Compile & Run

git clone https://github.gatech.edu/swang736/Soft_slam_hahaha.git

```bash
mkdir build
cd build
cmake ..
make -j4
./run /PathtoKITTI/sequences/00/ ../calibration/kitti00.yaml

Reference code

1. Matlab implementation of SOFT