Download cyphy_vis_slam:

hg clone https://cyphy-vis-slam.googlecode.com/hg/cyphy_vis_slam

cyphy_vis_slam:slam_backend/image_cache/geometric_verification/multicamera_1394/openfabmap2/template_matching

Installing

New in ROS Fuerte

Tested on Ubuntu 11.10 with ros-fuerte-desktop-full install. NOTE: This installs OpenCV 2.4

Currently there are a few external dependencies that rosdep does not manage and a patch to g2o required when using Fuerte.

NOTE: It is recommended that you enable ROS_PARALLEL_JOBS to reduce build time.

# Substitute ''X'' for the number of cores available for jobs
export ROS_PARALLEL_JOBS='-j -lX'

Download g2o:

svn co https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk/g2o ~/ros/g2o

Patch for Fuerte

• Edit the g2o manifest.xml

   rosed g2o manifest.xml

  REMOVE LINE:

   <rosdep name="eigen"/>

  MODIFY LINE:

   # OLD
   <cpp cflags="-I${prefix}/include/ -I/usr/include/suitesparse" lflags="…
  
   # NEW
   <cpp cflags="`pkg-config --cflags eigen3` -I${prefix}/include/ -I/usr/include/suitesparse" lflags="…

External Dependencies

Install the libsuitesparse dependency for sparse solvers used by g2o. Install the libdc1394 dependency for firewire bus control used by multi_camera1394.

sudo apt-get install libsuitesparse-dev libdc1394-22-dev

Download cyphy_vis_slam:

hg clone https://cyphy-vis-slam.googlecode.com/hg/cyphy_vis_slam

Download srv_vision:

svn co https://github.com/srv/viso2.git/trunk ~/ros/viso2

Build

rosmake cyphy_vis_slam

Feedback

Please use the stack's issue tracker at googlecode to submit bug reports and feature requests: http://code.google.com/p/cyphy-vis-slam/issues/list