An easy-to-understand visual odometry project based on OpenCV 3.

Accept web camera or mp4 video file as input.

A test.mp4 video file include for convenience. This file was obtained from:

https://www.youtube.com/watch?v=Lgy1F72Oi2g
https://www.youtube.com/watch?v=eRnfVb7XYuk

Build:

cd build/
rm -rf *
cmake ..
make

Useage:

./yzy_vo cam [cameraIdex]
./yzy_vo video [pathTovideo]

Speed: Tested on 2010 MacBook Air 13-inch [CPU: Intel(R) Core(TM)2 Duo CPU L9400 @ 1.86GHz], obtained frame rate of 19 FPS.