Visual Odometry Package for Underwater Robot Navigation

Copyright @ 2023 Dartmouth Robotics Lab

1. Running Unit Testing

Run the following command to save consecutive rosbag frames and translation & quaternion data for two consecutive frames only

1. Play your rosbag in the background
2. Ensure that "/camera_array/cam0/image_raw/compressed" and "/bluerov_controller/ar_tag_detector" are available topics (run rostopic list to check)
3. GROUND TRUTH: Run python trajectory_evaluation_ground_truth.py which produces a txt file called "stamped_ground_truth.txt"
4. VISUAL ODOMETRY: Run python trajectory_evaluation_vis_odom_extraction.py which produces a txt file called "stamped_traj_estimates.txt"

2. Extracting a full set of data