srv / viso2

A ROS wrapper for libviso2, a library for visual odometry
http://ros.org/wiki/viso2
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viso2

ROS Stack containing a wrapper for libviso2, a visual odometry library. http://www.ros.org/wiki/viso2 for the list of contained packages.


Omnidirectional version

Dependencies

How to execute

Performance test

Available topics on the bag file
  1. perspective_cam/image/compressed contains a perspective camera sequence that can be used by the default monocular Libviso2 version to benchmark.
  2. fisheye_cam/image/compressed contains the same sequence captured by a fisheye camera.
  3. slam_out_pose contains the camera motion estimation computed by Hector SLAM method.
  4. /husky_velocity_controller/odom constains conventional odometry motion estimation.
  5. /fix constains GPS data.
  6. /map contains a map of the environment designed using a laser.
  7. (...) and others.
Running the test sequences

Acknowledges

This work is co-financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 under the PORTUGAL 2020 Partnership Agreement, and through the Portuguese National Innovation Agency (ANI) as a part of project «ROMOVI: POCI-01-0247-FEDER-017945»".