Visual SLAM

Made to work both on live video feed and stream of images.

Tested with Zed, but easily adaptable to other cameras. Open to testing other USB3.0 cameras if they are sent to me.

Getting started.

The code is make use of all of the NVIDIA hardware (VIC, CUDA, PVA, CPU). Some older hardware might not have access to VIC or PVA, so you can just use the CUDA backend.

Prereqs for Pangolin (a visualization tool)

sudo apt-get install libglew-dev

Make sure you have Eigen installed

sudo apt install libeigen3-dev

Compile and Build the Project

mkdir build
cd build
cmake ..
make

Visual Odometry Pipeline

Step 1: Run Camera Calibration

1. Run Calibration to save calibration file

Step 2: Run