3_2

Feature detection and matching

• uses KITTI dataset
• detects ORB features from stereo images
• matches feature via Brute-force / KNN matching

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How to build & run

Requirement: OpenCV4

Local build

mkdir build && cd build
cmake ..
make -j
./orb_feature_matching ~/kitti/dataset/sequences/00/image_0 ~/kitti/dataset/sequences/00/image_1 100

Docker build

Requires base build

docker build . -t slam:3_2
docker run -it --env DISPLAY=$DISPLAY -v ~/kitti:/data -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:3_2

# Inside docker container
cd fastcampus_slam_codes/3_2
./build/orb_feature_matching /data/dataset/sequences/00/image_0 /data/dataset/sequences/00/image_1 100

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Output