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updated readme
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cfo committed May 28, 2014
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22 changes: 16 additions & 6 deletions README.md
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Expand Up @@ -85,6 +85,14 @@ vikit is a catkin project, therefore, download it into your catkin workspace sou
cd catkin_ws/src
git clone https://github.com/uzh-rpg/rpg_vikit.git

#### ROS dependencies

Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo):

sudo apt-get install ros-hydro-cmake-modules

(replace `hydro` with your distribution).

#### SVO

Now we are ready to build SVO.
Expand All @@ -95,12 +103,6 @@ Clone it into your catkin workspace

If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE.

Install missing ros dependencies. Sometimes `cmake-modules` is missing (required for including Eigen in ROS Indigo):

sudo apt-get install ros-hydro-cmake-modules

(replace `hydro` with your distribution).

Finally, build:

catkin_make
Expand Down Expand Up @@ -160,6 +162,14 @@ Parameter Settings

A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/vo_node.cpp`.

#### Forward motions

The current keyframe selection criterion is designed for downward looking cameras. This is one reason why SVO does not work well for forward motions (e.g., to be used on a car).

#### Image resolution

The current parameters are tuned for WVGA resolution. If you use a higher resolution camera, then the pyramid levels should be increased as well as the reprojection error thresholds.


Contributing
------------
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9 changes: 1 addition & 8 deletions svo/test/README.md
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Download Synthetic Test Data:
-----------------------------

Downloads and extracts the test data in the folder `data`:

cd rpg_slam/svo/test/data
wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz

If you want to store the data in another location (for instance, if you maintain a special folder with all datasets), then you can move the dataset there and set the environment variable `TEST_DATA_DIR` in your `.bashrc` like this:

export SVO_DATASET_DIR=${HOME}/Datasets
TODO
1 change: 1 addition & 0 deletions svo_analysis/README.md
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Expand Up @@ -16,6 +16,7 @@ Source your new `.bashrc` script, go to the new dataset folder and download the
cd ${SVO_DATASET_DIR}
wget http://rpg.ifi.uzh.ch/datasets/flying_room_1_rig_1.tar.gz -O - | tar -xz

TODO: replace this dataset with new ones.

#### Run Benchmark

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