Performing visual odometry with an RGBD camera
Now we are going to see how to perform visual odometry using RGBD cameras using fovis
.
Installing 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
Using fovis with the Kinect RGBD camera
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, so better results...