From 18a8fe5a6bcd54a50fd26487b9b19bc4c98f53eb Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Wed, 12 Mar 2014 19:32:49 +0100 Subject: [PATCH] update --- README.md | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/README.md b/README.md index f2605e6..ad4d647 100644 --- a/README.md +++ b/README.md @@ -57,10 +57,10 @@ I suggest an out-of-source build of g2o: If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` -#### ViKit - Some useful tools that we need +#### vikit - Some useful tools that we need -ViKit for instance contains camera models, some math and interpolation functions that SVO needs. -ViKit is a catkin project, therefore, download it into your catkin workspace source folder. +vikit for contains camera models, some math and interpolation functions that SVO needs. +vikit is a catkin project, therefore, download it into your catkin workspace source folder. cd catkin_ws/src git clone https://github.com/uzh-rpg/rpg_vikit.git @@ -88,17 +88,12 @@ Open a new console and start SVO with the prepared launchfile: roslaunch svo_ros test_rig3.launch -Open a new console and start RViz - - rosrun rviz rviz - -In RViz, load the configuration file (File > Open Config) which is stored in `svo_ros/rviz_config.rviz`. - Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type: rosbag play airground_rig_s3_2013-03-18_21-38-48.bag Now you should see the video with tracked features (green) and in RViz how the camera moves. +If you want to see the number of tracked features, fps and tracking quality, run the GUI. SVO GUI ------- @@ -109,7 +104,7 @@ If the widget is not found, try this: rm ~/.config/ros.org/rqt_gui.ini rosrun rqt_svo rqt_svo - + Keyboard Shortcuts ------------------