We demonstrate the usage of the system with the KITTI dataset as an example.
Note: The path to calibration and configuration files used here works for the APT installation. If you compile from source specify the appropriate path to the files in data folder.
Download the sequences (data_odometry_gray.zip) from the dataset and extract it.
# We assume you have extracted the sequences in ~/dataset_gray/sequences/
# Convert calibration to the basalt format
basalt_convert_kitti_calib.py ~/dataset_gray/sequences/00/
# If you want to convert calibrations for all sequences use the following command
for i in {00..21}; do basalt_convert_kitti_calib.py ~/dataset_gray/sequences/$i/; done
Optionally you can also copy the provided ground-truth poses to poses.txt in the corresponding sequence.
To run the visual odometry execute the following command.
basalt_vio --dataset-path ~/dataset_gray/sequences/00/ --cam-calib /work/kitti/dataset_gray/sequences/00/basalt_calib.json --dataset-type kitti --config-path /usr/etc/basalt/kitti_config.json --show-gui 1 --use-imu 0
