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About The Project

Our VAMR VO pipeline project :)

Project report

Link to project report PDF

Getting Started

To get a local copy up and running follow these steps.

Prerequisites

  1. Install conda
  2. Clone this repo

Installation

  1. Navigate to the project directory and run conda env create -f environment.yml
  2. Run conda activate vamr_vo

Running

  1. Navigate to the VAMR_VO directory
  2. Choose the dataset in params/params.py. If not using the shared dataset, make sure you have the chosen dataset in your local_data folder.
  3. Set params for dataset. In particular, set DISTRIBUTE_KEYPOINTS = True for Malaga, and DISTRIBUTE_KEYPOINTS = False for Kitti to speed it up.
  4. Run python visual_odometry/main.py

Links

Datasets

The shared data folder contains the small/easy dataset. The other larger datasets should be stored locally in a top level folder local_data/. This is in the .gitignore.

Development Guidelines

  • Do work in your own branch, with the prefix of your github id followed by feature name. Ex: git checkout -b 'kappibw/project-skeleton'
  • Annotate all np arrays with the expected shape/dimensions in inline comments.
  • Add someone else as reviewer on a PR before merging to master.
  • Document your work in the draft report as you go, use it as a scratchbook.