Since fovis is not provided as a Debian package, you must build it in your catkin workspace (use the same workspace you use for chapter5_tutorials). Therefore, proceed with the following commands within any workspace:

$ cd src
$ git clone https://github.com/srv/libfovis.git
$ git clone https://github.com/srv/fovis.git
$ cd ..
$ catkin_make

This clones two repositories that allow us to have the fovis software integrated in ROS. Note that the original code is hosted on this Google Code Project at https://code.google.com/p/fovis/.

Once this has been built successfully, set up the environment for this workspace before using the software:

$ source devel/setup.bash

At this point, we are going to run fovis for the Kinect RGBD camera. This means that we are going to have 3D information to compute the visual odometry...