Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.3.0 and later

Installing

• git clone https://github.com/mrsp/klt_ros.git
• catkin_make

Launch

• Specify topics on config/bench_params.yaml
• roslaunch klt_ros klt_ros.launch

Error Data Logging

• Specify output_path in config/bench_params.yaml
• At output_path create four folders: keypoint_error, keypoint3D_error, matches, keypoints
• roslaunch klt_ros klt_ros.launch

Documentation

• doxygen Doxyfile
• or visit http://spiperakis.com/klt_ros/

Example of transforming features detected in image 0 (red) to image 1 and compare with detected features in image 1 (green)

Example of matching features detected in image 0 to image 1