RGBDSlam Setup

These instructions are mostly from http://www.ros.org/wiki/rgbdslam.

Run
$ svn co http://alufr-ros-pkg.googlecode.com/svn/trunk/freiburg_tools/hogman_minimal
$ svn co https://svn.openslam.org/data/svn/rgbdslam/trunk rgbdslam

in some folder in $ROS_PACKAGE_PATH.
Then run
rosmake --rosdep-install rgbdslam

To fix the various error messages:
  • Change src/graph_manager.cpp line 1043 to
         Eigen::Map<Eigen::Vector3f> p_in ((float*) &cloud_in.points[i].x, 3, 1);
  • Change src/glviewer.cpp line 300 and 446 to
        const point_type origin = point_type(0., 0., 0.);