Depreciated

Take a look at this viso2. It does the same thing and is more complete.

ROS Node: Viso2

LibViso2 Author: Andreas Geiger

ROS Author: Kevin Walchko

License: GPL Ver. 2

Language: C++

Website: www.cvlibs.net

ROS Code: http://github.com/walchko/libviso2

Implemented a ROS node which uses libviso2 to do visual odometery. There are also two demo programs that read data sets (you can get them from www.cvlibs.net) and calculate the pose.

Command Line

rosrun libviso2 mono_node "topic_name" _debug:=true/false 

rosrun libviso2 stereo_node "topic_name" _debug:=true/false 

• debug: true or false, opens a window to show captured image
• topic: camera topic

Published Topics:

Pose: "/viso_node/pose" Transform: "/tf"

Example:

rosrun libviso2 mono_node "/topic/name"

To Do

• Enable the debug option from command line
• Setup stereo node