Visual Odometry¶
This package calculates the visual odometry using depth and mono images.
Run¶
Parameters: * queue_size
default = 20: The synchronisation queue
size * camera_namespace
default = /headxtion_: The camera
namespace. * depth_image
default = /depth/imagerect_:
camera_namespace
+ depth_image
= depth image topic *
mono_image
default = /rgb/imagemono_: camera_namespace
+
mono_image
= mono image topic * camera_info_depth
default =
/depth/camerainfo_: camera_namespace
+ camera_info_depth
=
depth camera info topic * motion_parameters
default =
/visualodometry/motion_matrix_: The visual odometry
rosrun:
rosrun visual_odometry visual_odometry [_parameter_name:=value]
roslaunch:
roslaunch visual_odometry visual_odometry.launch [parameter_name:=value]
Troubleshooting¶
If you get an error message that states:
/usr/lib/gcc/i686-linux-gnu/4.6/include/emmintrin.h:32:3: error: #error "SSE2 instruction set not enabled"
or similar, you have to add
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3")
to the
CMakeLists.txt file after the
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "-O3") ## Optimize
endif()
statement so that it looks like:
if(CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "-O3") ## Optimize
endif()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3")
Original page: https://github.com/strands-project/strands_perception_people/blob/indigo-devel/visual_odometry/README.md