mirror of
https://github.com/opencv/opencv.git
synced 2026-07-25 21:33:04 +04:00
Agrim Rai
64 lines
2.1 KiB
C++
64 lines
2.1 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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// Copyright (C) 2026, BigVision LLC, all rights reserved.
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// Third party copyrights are property of their respective owners.
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#include <opencv2/slam.hpp>
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#include <opencv2/features.hpp>
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#include <opencv2/dnn.hpp>
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#include <opencv2/core.hpp>
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#include <iostream>
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using namespace cv;
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static const char* ALIKED_MODEL = "/media/user/path/to/models/aliked-n16rot-top1k-640.onnx";
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static const char* LIGHTGLUE_MODEL = "/media/user/path/to/models/aliked_lightglue.onnx";
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static const char* IMAGES_DIR = "/media/user/path/to/dataset";
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static const char* OUTPUT_DIR = "vo_out";
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// KITTI-00: fx, fy, cx, cy
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static const Matx33d K(718.856, 0., 607.1928,
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0., 718.856, 185.2157,
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0., 0., 1.);
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// k1, k2, p1, p2, k3
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static const std::vector<double> DIST = { -0.2811, 0.0723, -0.0003, 0.0001, 0.0 };
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static Ptr<Feature2D> makeDetector()
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{
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ALIKED::Params p;
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p.inputSize = Size(640, 640);
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p.engine = dnn::ENGINE_NEW;
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return ALIKED::create(ALIKED_MODEL, p);
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}
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static Ptr<DescriptorMatcher> makeMatcher()
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{
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return LightGlueMatcher::create(LIGHTGLUE_MODEL, 0.0f,
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dnn::DNN_BACKEND_DEFAULT,
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dnn::DNN_TARGET_CPU);
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}
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int main()
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{
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slam::OdometryParams params;
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params.minInitParallaxDeg = 1.5;
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params.minInitPoints = 50;
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auto vo = slam::VisualOdometry::create(
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makeDetector(), makeMatcher(),
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IMAGES_DIR, OUTPUT_DIR,
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Mat(K), Mat(DIST), params);
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const int64 t0 = getTickCount();
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const bool ok = vo->run();
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const double elapsed = (getTickCount() - t0) / getTickFrequency();
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std::cout << "run=" << (ok ? "ok" : "FAILED")
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<< " frames=" << vo->getTrajectory().size()
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<< " elapsed=" << elapsed << "s\n"
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<< "output -> " << OUTPUT_DIR << "\n";
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return ok ? 0 : 1;
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}
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