Hi Rishi,<br>VSLAM is currently research/development code, so it&#39;s not well-documented or stable yet. <br>There is some documentation for SBA (sparse bundle adjustment), which is an underlying part of VSLAM that you might find relevant at <a href="http://www.ros.org/wiki/sba/Tutorials" target="_blank">http://www.ros.org/wiki/sba/Tutorials</a>.<br>

For VSLAM itself, a good way to get started is to look at test_bag.launch and stereo_vslam_node (src/nodes/stereo_vslam_node.cpp) in the vslam_system package.<br>Please note that the code is liable to change considerably in the near future, however.<br>
<br>Hope that helps,<br>Helen<br>
<br><div class="gmail_quote">On Wed, Jul 14, 2010 at 7:23 AM, Rishi Bedi <span dir="ltr">&lt;<a href="mailto:rbedi100@gmail.com" target="_blank">rbedi100@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">


Hi, <br>I&#39;m using a Pioneer 2 robot (with two firewire cameras and a SICK laser rangefinder), and I&#39;m hoping to get vSLAM up and running. I downloaded and compiled the stack (and I have image_pipeline working with my camera, publishing raw image data), so I&#39;m trying to figure out what to do next -- are there any demos of vSLAM that I could take a look at to get started? <br>



Thanks--<br>Rishi<br><font color="#888888"><br clear="all">Rishi Bedi<br><a href="mailto:rbedi100@gmail.com" target="_blank">rbedi100@gmail.com</a><br>
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