viso2_ros mono_odometry with Kinect

asked 2018-05-04 09:09:02 -0600

Pinak gravatar image

Hi, I am trying to implement viso2_ros with Kinect on Indigo for 3D mapping purposes. I Noticed that the monocular camera's visual odometry depends on an unknown scaling factor and hence viso2_ros requires a parameter named camera_height, but the same thing is not present for stereo odometry as it calculates the depth distance. I am aware that Kinect is a monocular camera, but it does display synchronized depth images (distances) too! Can we use this fact to remove dependence on the camera_height parameter? Is there a package in ROS that does this, that I am not aware of? I would Like to work on the development of such a package if there isn't one.

Note: I know fovis registers to the depth image of kinect, but for some reason, I cannot integrate it with Indigo.

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