5_4

Inverse perspective mapping (IPM)

• Uses KITTI dataset
• Manually select 4 points to create a bird's eye view

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How to build & run

Requirement: OpenCV4

Local build

mkdir build && cd build
cmake ..
make -j
./bev

Docker build

Requires base build

docker build . -t slam:5_4
docker run -it --env DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:5_4

# Inside docker container
cd fastcampus_slam_codes/5_4
./build/bev

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Output