Stereo Visual Odometry in Python using CUDA and ROS2 Humble
ROS2 Humble openCV4 built with CUDA support numpy==1.26.4 cupy rerun-sdk==0.21.0
mkdir ~/ros2_ws/src cd ~/ros2_ws/src git clone https://github.com/arjunmurali215/gpu-vo.gitRefer to kitti2rosbag2 readme
cd ~/ros2_ws colcon build --symlink-install source install/setup.bashros2 launch frontend full-pipeline.launch.pyIn a separate terminal:
source /opt/ros/$ROS_DISTRO/setup.bash ros2 bag play <path_to_rosbag2>- Add backend package with bundle adjustment node
- Add loop closure node