At this point, we are ready to run the visual odometry algorithm: our stereo pair cameras are calibrated, their frame has the appropriate name for viso2 (ends with _optical), and tf for the camera and optical frames has been published. However, before using our own stereo pair, we are going to test viso2 with the bag files provided in http://srv.uib.es/public/viso2_ros/sample_bagfiles/; just run bag/viso2_demo/download_amphoras_pool_bag_files.sh to obtain all the bag files (this totals about 4 GB). Then, we have a launch file for both the monocular and stereo odometers in the launch/visual_odometry folder. In order to run the stereo demo, we have a launch file on top that plays the bag files and also allows you ...
Running the viso2 online demo
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