Odometry

SLAM based on deep learning odometry for camera position estimation.

Goals

1. Share results from paper "Training Deep SLAM on Single Frames" [arxiv].
2. Share framework for training, evaluating and storing results of various odometry models.

Getting Started

Prerequisites

• libqglviewer-dev-qt4
• libeigen3-dev
• libsuitesparse-dev
• conda
• rest of requirements listed in conda.yml

How to build

git clone --recursive https://github.sec.samsung.net/AIMC-TSU/odometry.git

1. conda env update --file conda.yml
   
2. conda activate odometry
3. bash build.sh
   Or on cluster, you must
   a) ssh to any gpu node
   b) scl enable devtoolset-7 'bash build.sh'
4. Update PYTHONPATH: export PYTHONPATH=path_to_this_repo:$PYTHONPATH
5. (optional) For depth estimation download pretrained struct2depth weights from official site https://sites.google.com/view/struct2depth into weights directory
6. (optional) For OF estimation download pretrained tfoptflow weights from repo https://github.com/philferriere/tfoptflow

How to test

python -m unittest discover -s tests