Only released in EOL distros:fuerte
groovy
fuerte: Documentation generated on August 27, 2013 at 10:34 AM
groovy: Documentation generated on April 12, 2013 at 08:39 PM
Details
ROS API
The package provides the following ROS nodes/nodelets:rgbd_image_proc: processes raw OpenNI camera data by performing image rescaling, rectification, registration, and depth unwarping. Also see ccny_openni_launch
feature_viewer: auxliary node which lets users test out different feature detectors, and visualize feature locations and covariances in rviz
visual_odometry: visual odometry based on sparse 3D features.
keyframe_mapper: a map server which stores RGBD keyframes, performs (offline) graph-based SLAM, and handles map generation and disk output.
Quick usage
First, launch the device and image processing via ccny_openni_launch.
roslaunch ccny_openni_launch openni.launch publish_cloud:=true
Next, launch visual_odometry.launch for visual odometry, or vo+mapping.launch for visual odometry and mapping interfaces.
roslaunch ccny_rgbd vo+mapping.launch
Launch rviz, and load the vo+mapping.vcg configuration file.
If you are using the mapping interface, you can call the following services to perform graph-based SLAM (offline):
rosservice call /generate_graph
rosservice call /solve_graph
You can publish the resulting keyframe to rviz:
rosservice call /publish_keyframes ".*"
Or save the entire map as a pcd:
rosservice call /save_pcd_map /home/your_user_name/my_map.pcd
For more options, consult the individual app pages.
References
Ivan Dryanovski, Roberto G. Valenti, Jizhong Xiao. Fast Visual Odometry and Mapping from RGB-D Data. 2013 International Conference on Robotics and Automation (ICRA2013).
Bug Reports & Feature Requests
We appreciate the time and effort spent submitting bug reports and feature requests.
Please submit your tickets through github (requires github account) or by emailing the maintainers.