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bowpmap_ros package from bowpmap_ros repo

bowpmap_ros

Package Summary

Tags No category tags.
Version 0.1.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/kejriwalnishant1990/bowpmap_ros.git
VCS Type git
VCS Version master
Last Updated 2016-10-09
Dev Status MAINTAINED
Released UNRELEASED

Package Description

The bowpmap_ros package. It is a bag of word pairs based loop closure detection algorithm.

Additional Links

Maintainers

  • Nishant Kejriwal

Authors

No additional authors.

bowpmap_ros-release (indigo) - 0.1.2-0

The packages in the bowpmap_ros-release repository were released into the indigo distro by running /usr/bin/bloom-release --rosdistro indigo --track indigo bowpmap_ros-release --edit on Sat, 08 Oct 2016 19:02:43 -0000

The bowpmap_ros package was released.

Version of package(s) in repository bowpmap_ros-release:

Versions of tools used:

  • bloom version: 0.5.22
  • catkin_pkg version: 0.2.10
  • rosdep version: 0.11.5
  • rosdistro version: 0.4.7
  • vcstools version: 0.1.38

bowpmap_ros

BoWP-Map's ROS package.

For more information, demos and tutorials about this package, visit the bowpmap_ros page on the ROS wiki.

Installation

Build from source

This section shows how to install BoWP-Map ros-pkg on ROS Hydro/Indigo (Catkin build).

  • Install OpenCV from source in indigo/hydro: If you want SURF/SIFT, you have to build OpenCV from source to have access to nonfree module. Install it in /usr/local (default) and the bowpmap_ros should link with it instead of the one installed in ROS. However, currently for SURF features we are using opensurf which is already built in with bowpmap_ros. But still for other opencv requirements, you can download the opencv-2.4.9 according to the tutorial given here.

  • Install flann library : Download flann library (Version : 1.8.4) from its homepage.

    • Follow the below instructions to build the library:
    $ unzip flann-1.8.4-src.zip -d ~/
    $ cd ~/flann-1.8.4-src
    $ mkdir build
    $ cd build
    $ cmake ..
    $ make

Note that we are not using opencv flann library because it does not support incremental addition of points in the indexing data structures. However flann library has been updated with this feature but it is not incorporated in the opencv2.4.9 library.

  • The next instructions assume that you have setup your ROS workspace using this tutorial. The workspace path is ~/catkin_ws and your ~/.bashrc contains:
source /opt/ros/hydro/setup.bash
source ~/catkin_ws/devel/setup.bash

  1. Install the BoWP-Map ros-pkg in your src folder of your Catkin workspace.
$ cd ~/catkin_ws/src
$ git clone -b prasun https://gitlab.com/nishant1990/bowpmap_ros.git 
$ cd ..
$ catkin_make

#### Update to new version

$ roscd bowpmap_ros
$ git pull origin master
$ cd ~/catkin_ws
$ catkin_make

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/bowp_mapping.launch
      • matching_threshold [default: 15]
      • distance [default: 0.3]
      • hessian [default: 100]
      • noOfDescriptors [default: 1000]
      • candidates [default: 1]
      • loopProbability [default: 0.1]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged bowpmap_ros at answers.ros.org

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