fovis on depth-only sensors?

Question

Hey, I wanted to implement SLAM on Occipital's Structure Sensor which happens to be a depth only camera and provides no RGB images.

I was wondering if there is anyway to use the Fovis package to obtain odometry from Structure despite the fact that it subscribes to /rgb/image_rect

Is there any remapping etc that can be utilized for this or is that RGB frame crucial for odom calculation?

this is the error I get

Images received: 0 (topic '/camera/rgb/image_color') Depth images received: 33082 (topic '/camera/depth/image') Image camera info received: 0 (topic '/camera/rgb/camera_info') Depth camera info received: 33082 (topic '/camera/depth/camera_info') Synchronized tuples: 0

Or if there is any other option to perform 2D slam on structure sensor?

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Originally posted by VijethRai on ROS Answers with karma: 21 on 2014-12-23

Post score: 1

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Original comments

Comment by VijethRai on 2014-12-27:
Hey,

Any input will be very much appreciated. Thanks

Answer 1

libfovis uses FAST features to track images. A color image is required to use it. Read the article.

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Originally posted by Miquel Massot with karma: 1471 on 2015-01-03

This answer was ACCEPTED on the original site

Post score: 1