Now we are going to see how to perform visual odometry using RGBD cameras using fovis
.
Since fovis
is not provided as a Debian package, you must build it in your catkin
workspace (use the same workspace as you used for chapter5_tutorials
). Proceed with the following commands within any workspace:
$ cdsrc$ 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 http://fovis.github.io/.
Once this has been built successfully, set up the environment for this workspace before using the software:
$ sourcedevel/setup.bash