/feature_odom

Primary LanguageC++

Feature match odom

This repository implements an ORB feature based visual odometry.

  1. Dependencies
  2. Running

Dependencies

  1. Install Ceres.
  2. Download other dependent ROS packages.
  3. Prepare the ROS bag file.

Running

  1. Launch demo.launch file:
roslaunch feature_match_odom demo.launch
  1. Play the ROS bag file:
rosbag play --clock /path/to/bag/file.bag