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 = /head_xtion: The camera namespace.
• depth_image default = /depth/image_rect: camera_namespace + depth_image = depth image topic
• mono_image default = /rgb/image_mono: camera_namespace + mono_image = mono image topic
• camera_info_depth default = /depth/camera_info: camera_namespace + camera_info_depth = depth camera info topic
• motion_parameters default = /visual_odometry/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")