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Is there a package that provides visual odometry aside from vslam? I found visodo but it has a missing/deleted dependency(vop).


Originally posted by Homer Manalo on ROS Answers with karma: 475 on 2011-02-23

Post score: 6

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3 Answers 3

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We just released our ROS-Wrapper for libviso2, called viso2_ros. It contains nodes for monocular and stereo odometry. Every parameter from libviso2 can be set through ROS. Odometry information is published as nav_msgs/Odometry and geometry_msgs/PoseStamped as well as through a tf for easy visualization through rviz. Have a look at the corresponding ros wiki page for further information.


Originally posted by Stephan with karma: 1924 on 2012-03-22

This answer was ACCEPTED on the original site

Post score: 7


Original comments

Comment by Thomas on 2012-03-29:
I strongly encourage the use of viso2_ros. So far, it is the best visual odometry package I have found in ROS.

Comment by Giuseppe on 2012-04-05:
Stephan, do you think it is possible to add the option replace=true as a ros parameter to set at running time? Is it even possible to set parameters without changing those in the program? If yes in which way? Thanks

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I don't believe there is a released package providing that functionality at the moment.


Originally posted by tfoote with karma: 58457 on 2011-03-01

This answer was NOT ACCEPTED on the original site

Post score: 3


Original comments

Comment by Homer Manalo on 2011-03-03:
Would this: (http://www.rainsoft.de/software/libviso.html) work with ros? Or is there anybody who had use it with ros perhaps?

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Okay ... I have it working, but it is not complete at this point [16 Feb 2012]. I have the mono camera up and running but haven't started on the stereo yet. Feel free to take a look at my github of libviso2. I will improve it over time.


Originally posted by Kevin with karma: 2962 on 2011-04-30

This answer was NOT ACCEPTED on the original site

Post score: 1


Original comments

Comment by jrcapriles on 2011-09-09:
Hi! I'm working in visual odometry, did you make the ROS node for libviso? or how did you resolve the Visual Odometry problem?

Comment by tom on 2011-05-04:
It would be great if you did. To make sure no one else is working on it already it'd be safer to drop a line on [email protected] and [email protected].

Comment by Thomas D on 2012-02-18:
The code looks great. I'll try it out today with some cameras I have. Thanks!

Comment by Kevin on 2012-02-18:
Thomas, let me know how it goes for you

Comment by Thomas D on 2012-02-19:
It was easy to get running for the monocular case.

Comment by Thomas D on 2012-02-25:
@Kevin, if I have changes I'd like to see in your nodes, do you want me to just push them up?

Comment by Kevin on 2012-02-25:
sure ... thanks!

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