there exists a c++ open-source visual odometry library called "LIBVISO2" (cvlibs.net/software/libviso/) which I would like to use in ROS. For the library there exists a ROS-package called "viso2_ros" which is a ROS-wrapper for the library.
I am totally new to LINUX and ROS. In Windows I use VS2010 and the Flycap drivers for the two Point Grey Flea3 "gigE cameras" making the stereo-visual odometry work (using LIBVISO2).
Now I finished the 20 ROS beginner tutorials but still am confused how to get started. Can you give me some tips regarding how to take the first steps?
Basically I need a tip how to
- establish a camera node (with the Flea Linux drivers??) which will output images (I use a trigger)
- rectify the images (I have all the parameters for initundistorstrectifymap from opencv)
- use openCV in general
- make my fist steps with viso2_ros
Thank You. All tips are well appreciated!
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