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Ubuntu 20.04 & ROS Noetic

Build

mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this

Run

# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug

If the error of any library missing is reported, just export the library path:

export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH

🛢️ DSOL: Direct Sparse Odometry Lite

Reference

Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor

https://arxiv.org/abs/2203.08182

https://youtu.be/yunBYUACUdg

Datasets

VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/

KITTI Odom

TartanAir https://theairlab.org/tartanair-dataset/

Sample realsense data at

https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0

https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0

Calib for realsense data is

393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.

Build

This is a ros package, just put in a catkin workspace and build the workspace.

Run

Open rviz using the config in launch/dsol.rviz

roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.

See config folder for details on configs.

To run multithread and show timing every 5 frames do

roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions

See CMakeLists.txt for dependencies. You may also check our Github Action build file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.

Disclaimer

For reproducing the results in the paper, place use the iros22 branch.

This is the open-source version, advanced features are not included.

About

DSOL: Direct Sparse Odometry Lite

Resources

Readme
License
Activity
Custom properties

Stars

0 stars

Watchers

0 watching

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0 forks
Report repository

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, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

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Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
}
} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

Skip to content
BranchesTags
Repository files navigation
Ubuntu 20.04 & ROS Noetic
Build
mkdir -p ~/closedloop_ws/src
# Configure ros workspace.cd~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17
# Clone dsol.cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git
# Build 3rdparty.# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".
sudo apt install libgflags-dev libgmock-dev libgtest-dev
cd dsol
./build_deps.sh
# Build dsol.cd~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this
Run
# Please make sure roscore is running !!!cd scripts
source~/catkin_ws/devel/setup.bash
# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py
# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug
If the error of any library missing is reported, just export the library path:
export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH
🛢️ DSOL: Direct Sparse Odometry Lite
Reference
Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor
https://arxiv.org/abs/2203.08182
https://youtu.be/yunBYUACUdg
Datasets
VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/
KITTI Odom
TartanAir https://theairlab.org/tartanair-dataset/
Sample realsense data at
https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0
https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0
Calib for realsense data is
393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.
Build
This is a ros package, just put in a catkin workspace and build the workspace.
Run
Open rviz using the config in launch/dsol.rviz
roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.
See config folder for details on configs.
To run multithread and show timing every 5 frames do
roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions
See CMakeLists.txt for dependencies. You may also check our Github Action build
file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.
Disclaimer
For reproducing the results in the paper, place use the iros22 branch.
This is the open-source version, advanced features are not included.
About
DSOL: Direct Sparse Odometry Lite
Resources
Readme
License
Activity
Custom properties
Stars
0 stars
Watchers
0 watching
Forks
0 forks
Report repository
Releases
Packages
Contributors
Languages