Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.3.0 and later
• OpenCV 3.3 and later

Installing

• git clone https://github.com/mrsp/rgbd_odom_ros.git
• catkin_make

Launch

• Specify configuration parameters in a yaml file e.g. in config/xtion.yaml
• roslaunch roslaunch rgbd_odom_ros rgbd_odom_ros.launch

Example of RGBD Odometry computed in the OpenLoris Dataset office 1.1