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stereo_dso_ros

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# STEREO_DSO_ROS

This is a minimal example of how to integrate STEREO DSO from a ROS project, and run it on real-time input data. You can test it with EuRoC and KITTI Dataset(rosbag), or you may run it with your stereo camera(ROS API).

Detail about STEREO DSO: https://github.com/HorizonAD/stereo_dso

Assume that you are familiar with ROS. If you are not familiar with ROS, you can refer to the following link to install and learn how to use ROS. Tested on ubuntu16.04 + ROS Kinetic.

Installation instructions:

http://wiki.ros.org/ROS/Installation

ROS Tutorials:

http://wiki.ros.org/ROS/Tutorials

# 1. Installation

## 1.1. Install stereo_dso

Install the stereo_dso as the instruction of the following link:

https://github.com/HorizonAD/stereo_dso

## 1.2. Install stereo_dso_ros

```
cd ~/catkin_ws/src

git clone https://github.com/LinHuican/stereo_dso_ros

cd ..

catkin_make
```

# 2 Examples

### KITTI dataset
Dowload KITTI rosbag sequences:http://cifasis-conicet.gov.ar/taihu/datasets/KITTI/bags/

```
rosrun stereo_dso_ros stero_dso_ros calib=/home/huicanlin/catkin_ws/src/stereo_dso_ros/examples/camera_kitti.txt preset=0 mode=1 /cam0/image_raw:=/kitti_stereo/left/image_rect /cam1/image_raw:=kitti_stereo/right/image_rect
```

```
rosbag play --pause ~/Downloads/Dataset/KITTI/kitti_00.bag
```

![](https://github.com/LinHuican/stereo_dso_ros/blob/master/stereo_dso_ros_kitti_00.png)

### EuRoC dataset

The performance of the STEREO DSO ROS in the EuRoc dataset is not satisfactory and still needs improvement.

```
rosrun stereo_dso_ros stero_dso_ros calib=/home/huicanlin/catkin_ws/src/stereo_dso_ros/examples/camera_euroc.txt preset=0 mode=1
```

```
rosbag play --pause ~/Downloads/Dataset/ETH/V1_01_easy.bag
```

For poor computing power, you may try:

```
rosbag play --pause ~/Downloads/Dataset/ETH/V1_01_easy.bag -r 0.5
```

![](https://github.com/LinHuican/stereo_dso_ros/blob/master/stereo_dso_ros_euroc_v101.png)

### Own stereo camera

```
rosrun stereo_dso_ros stero_dso_ros calib=/home/huicanlin/catkin_ws/src/stereo_dso_ros/examples/own_camera.txt preset=0 mode=1 /cam0/image_raw:=/own_left_camera /cam1/image_raw:=/own_left_camera
```
```
Publish own left and right camera.
```

![](https://github.com/LinHuican/stereo_dso_ros/blob/master/own_stereo_camera.png)

# 3 Others

If you have any trouble installing or running STEREO DSO ROS, contact the authors(18606921232@163.com).

# 4 License

stereo_dso_ros

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