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.
Tested on KITTI odometry dataset
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