This is an OpenCV 3.4 implementation on KITTI's Visual Odometry Dataset (greyscale)
2D-2D Monocular VO and 2D-3D Stereo VO
Implemenation details in report
In 2 directory:
mkdir build
cd build
cmake ..
makeAfter compilation, in the build directly
Mono
./vo [sequence ID] [dataset directory]Stereo
./vo [sequence ID] [max frame] [optimize frame] [dataset directory]
