2018.02.05 Almost Done, But still many many bugs. The code can only run 10 frame then the update step seems wrong. 2017.12.16 Finish the feature tracking and ready to realize the Feature Manager test! the test video can be found here.

wait to add..

We have tested the library in 16.04, but it should be easy to compile in other platforms.

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2.

Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

Download and install instructions can be found at: http://www.ceres-solver.org/installation.html.

wait to add

mkdir build cd build cmake .. make

you need use the python script to translate the csv file to the txt file.

./frame_with_imu_test

then you will get result in result/