A baby version of my bearing vision only EKF slam on our robot

It's the first version my EKF slam on this robot. The goal is fusion odometry with monocular vision. No ground truth, but from the video we can see the odometry can not close the loop and the slip make the trajectory can not be a circle. But the result from EKF_slam works here, it correct the angle of rotation when the robot have a sharp turn.

read and save video file by opencv

I spent two days to test the program as one of my friend want to save frames in video file.

I find that opencv work on video things by FFMPEG library.So before you install opencv ,you mush check if you have install ffmpeg and libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg62-dev libtiff4-dev.

After that ,you can recompile the opencv :
./configure
make
sudo make install

If when you do ./configure ,you can see "ffmpeg yes", then it said opencv can work on ffmpeg..


When I do recompile the source code of opencv , I find something interesting.
Afger configure,I find opencv can find ffmpeg..but it still can not read and write video files.
but after I change something in highgui's source code and do recompile again, it's working..

I think maybe that's because if you dont change anything in the source code .It does not refresh the library...


More information about opencv and Ubuntu
http://dircweb.king.ac.uk/reason/opencv_cvs.php

HaHa..Craze man