- fftw3
- OpenCV 4.2
- Eigen
- Ceres
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS='-isystem /usr/local/include' ..
./image_main <path to load images> output/<path to save results>
the input directory structure are like this
- <data_dir>
- Images (this is a directory)
- cam_param.yaml (the format is like the below part)
- imageList.txt (each line is the name of image in Images. you can generate this file with `ls Images > imageList.txt` in <data_dir>)
- timestamps.txt (the content of this is not necessary)
cam_param.yaml
%YAML:1.0
Camera.type: "PinHole"
Camera.fx: 2955.7
Camera.fy: 2949.9
Camera.cx: 2023.1
Camera.cy: 1510.7
Camera.k1: 0.1601
Camera.k2: -0.3277
Camera.p1: -0.00073991
Camera.p2: 0.0051
Camera.width: 4056
Camera.height: 3040
Noted, there should be a directory txt
under output
.
This project is licensed under the GPLv3 License. The license of the original Python version by Gohlke and Týč can be found here.