gpu-vo

Stereo Visual Odometry in Python using CUDA and ROS2 Humble

Dependencies:

ROS2 Humble openCV4 built with CUDA support numpy==1.26.4 cupy rerun-sdk==0.21.0

Setup:

1. Clone the repo:

mkdir ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/arjunmurali215/gpu-vo.git

2. Create the rosbag2 for KITTI Dataset

Refer to kitti2rosbag2 readme

3. Build packages

cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

4. Launch pipeline

ros2 launch frontend full-pipeline.launch.py

5. Play bag

In a separate terminal:

source /opt/ros/$ROS_DISTRO/setup.bash
ros2 bag play <path_to_rosbag2>

To-Do

1. Add backend package with bundle adjustment node
2. Add loop closure node