ROS Stack containing a wrapper for libviso2, a visual odometry library. http://www.ros.org/wiki/viso2 for the list of contained packages.
ocam_calib
command to run the application.roslaunch viso2_ros demo.launch
calib_path
parameter.perspective_cam/image/compressed
contains a perspective camera sequence that can be used by the default monocular Libviso2 version to benchmark.fisheye_cam/image/compressed
contains the same sequence captured by a fisheye camera.slam_out_pose
contains the camera motion estimation computed by Hector SLAM method./husky_velocity_controller/odom
constains conventional odometry motion estimation./fix
constains GPS data./map
contains a map of the environment designed using a laser.roslaunch viso2_ros perspective.launch
roslaunch viso2_ros fisheye.launch
NOTE: We provide the camera calibration file for the fisheye camera ('data/calib_results.txt'). You have to set the correct path to the rosbag file in both launch files and the calibration text file in the fisheye.launch. We also provide a rviz configuration file to easy visualization of the results.
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»".