odometry.py should work with:
pip install numpy numpy-quaternion opencv-contrib-python scipy
Can skip scipy if it's too difficult, should try to use ceres-solver then.
Maybe with python bindings from here?
Later on when trying to get other algorithms to work:
apt-get install libgl1-mesa-dev libx11-dev
pip install moderngl==5.5.4 moderngl-ext-obj==1.0.0
Download test data from here to tests/data.
Then run:
python -mr unittest tests/odometry.py
or to test rendering with profiling, run:
xvfb-run --server-args="-screen 0 1024x768x24" python -mr cProfile -o profile.prof -mr tests.render
or to test synthetic photometric feature algo with config set "1", run:
xvfb-run --server-args="-screen 0 1024x768x24" python -mr cProfile -o profile1.prof tests/splnav.py 1
conda create -n drone -c conda-forge python=3.10 pip numpy numba quaternion scipy opencv python-dateutil tqdm \
matplotlib rasterio
conda activate drone
pip install opencv-contrib-python
pip install pygeodesy
pip install --no-deps kapture
mkdir 3rdparty
cd 3rdparty
git clone git@version.aalto.fi:jkinnari/nokia-multico-dataset-parser.git -b okn-work nokia-ds
cd ..
pip install --no-deps -e 3rdparty/nokia-ds
- include inertial measurements