/opencv_vo

OpenCV base simple ROS visual odometry for monocular camera

Primary LanguageC++

OpenCV Visual Odometry

opencv_visaul_odometry_demo

Overview

A ROS package for visual odometry based on OpenCV function:

  • ROS node subscribe image messages for real time working
  • ORB feature detection

Installation

Dependencies

This software is built on the Robotic Operating System (ROS), which needs to be installed first.

Building

Clone the repository and catkin_make:

cd catkin_ws/src
git clone https://github.com/linjohnss/opencv_vo.git
cd ../
catkin_make
source devel/setup.bash

Running opencv_vo with your camera

Change camera metrix for yor camera

Mat cameraMatrix = (Mat1d(3, 3) << 718.856, 0.0, 607.1928,
                                   0.0, 718.856, 185.2157, 
                                   0.0, 0.0, 1.0);

rosrun opencv_vo mono_vo

KITTI Example

You can use kitti_publisher to publish KITTI Odometry dataset to ROS image msgs

rosrun opencv_vo kitti_publisher