5_2

Essential / Fundamental matrix estimation

• uses KITTI dataset
• Detects local feature from monocular images
• Uses OpenCV functions to estimate E/F matrix

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How to build & run

Requirement: OpenCV4

Local build

mkdir build && cd build
cmake ..
make -j
./epipolar

Docker build

Requires base build

docker build . -t slam:5_2
docker run -it --env DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:5_2

# Inside docker container
cd fastcampus_slam_codes/5_2
./build/epipolar

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Output