We're working on this code.  Visodo is being refactored into
front-end and back-end parts.  The only reasonably stable package at
this point is "sba", which implements several types of back-ends.  In
a few months we expect to have releasable code, and it will be fully
documented over the summer.

Cheers --Kurt


Vu Hong Thuan wrote:
> Kurt,
> I just want to know how to create a program of visual odometry.
> Now, I'am interested in using a camera for slam. Why did you remove 
> package visual_odometry and vslam?
> They didn't run well, did they? I watched the video about the demo of 
> visual odometry. I find it interesting.
> Deers,
> Thuan
> 
> 2010/3/26 Kurt Konolige <konolige@willowgarage.com 
> <mailto:konolige@willowgarage.com>>
> 
>     Do not build the package visodo.  I will be removing it...kk
> 
>     On Fri, Mar 26, 2010 at 1:26 AM, Vu Hong Thuan <thuanvh@gmail.com
>     <mailto:thuanvh@gmail.com>> wrote:
>      > Hi all,
>      > I'm building the package visodo. But I get the following error about
>      > missing file cholmod.h.
>      > I can't find the file cholmod.h. Where could I find the file
>     cholmod.h ?
>      > Thanks.
>      > Thuan.
>      >
>      > [rosmake-1] >>> visodo >>> [ make ]
>      > [ rosmake ] All 14 lines
>      >
>     {-------------------------------------------------------------------------------
>      > [ 0%] Built target rospack_genmsg_libexe
>      > [ 0%] Built target rosbuild_precompile
>      > [ 2%] Building CXX object
>      >
>     CMakeFiles/test/convert_bundler_undistort.dir/test/convert_bundler_undistort.o
>      > In file included from
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/vo.h:62,
>      > from
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/test/convert_bundler_undistort.cpp:39:
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/csparse.h:50:21:
>      > error: cholmod.h: Aucun fichier ou dossier de ce type
>      > In file included from
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/vo.h:62,
>      > from
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/test/convert_bundler_undistort.cpp:39:
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/csparse.h:102:
>      > error: ‘cholmod_common’ does not name a type
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/csparse.h:103:
>      > error: ISO C++ forbids declaration of ‘cholmod_sparse’ with no type
>      >
>     /home/thuan/sandbox/slam/rossrc/trunk/wg-ros-pkg/vision/visodo/include/visodo/csparse.h:103:
>      > error: expected ‘;’ before ‘*’ token
>      > make[2]: ***
>      >
>     [CMakeFiles/test/convert_bundler_undistort.dir/test/convert_bundler_undistort.o]
>      > Erreur 1
>      > make[1]: *** [CMakeFiles/test/convert_bundler_undistort.dir/all]
>     Erreur 2
>      >
>     -------------------------------------------------------------------------------}
>      >
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