The RGB-D vision odometry with point feature and line feature.
Dowload and install instructions can be found at: http://opencv.org.
Tested with OpenCV 3.2.
download new version gflag and compile.
$ git clone https://github.com/gflags/gflags.git
$ mkdir build & cd build
$ cmake -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC ..
$ make & sudo make install
$ git clone https://github.com/google/glog.git
$ cd glog
$ mkdir build && cd build
maybe you need to install cmake3
$ sudo apt-get install cmake3
$ export CXXFLAGS="-fPIC" && cmake .. && make VERBOSE=1
$ make
$ sudo make installDownload and install instructions can be found at: http://eigen.tuxfamily.org.
Tested with Eigen 3.2.1
Dowload and install instructions can be found at: http://www.ceres-solver.org/installation.html
$ git checkeout a621ff2$ mkdir build
$ cd build
$ make -j2- test_line_feature
line feature detection use the lsd original code and opencv code - test_line_match
line feature detection and matching use the lsd and lbd algorithm in the opencv.