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- Nishant Kejriwal
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
bowpmap_ros package was released.
Version of package(s) in repository
- upstream repository: https://github.com/kejriwalnishant1990/bowpmap_ros.git
- release repository: unknown
- rosdistro version:
- old version:
- new version:
Versions of tools used:
- bloom version:
- catkin_pkg version:
- rosdep version:
- rosdistro version:
- vcstools version:
BoWP-Map's ROS package.
For more information, demos and tutorials about this package, visit the bowpmap_ros page on the ROS wiki.
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
- 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
- matching_threshold [default: 15]
- distance [default: 0.3]
- hessian [default: 100]
- noOfDescriptors [default: 1000]
- candidates [default: 1]
- loopProbability [default: 0.1]