rpl_vo is a visual odometry metapackage for UAV's in RPL.

rpl_vo uses OpenCV 3.0+ functions, but the OpenCV version in ROS Indigo is 2.4.8. Therefore it is needed to be installed. This package is used rather than a stand alone installation;

sudo apt-get install ros-<distro>-opencv3

The library uses functionalities of vikit. It is needed to be clone in the catkin workspace and built;

cd <catkin_workspace>/src
git clone https://github.com/uzh-rpg/rpg_vikit.git
cd ..
catkin_make

The MonoOdometer class is derived from OdometerBase class in viso2_ros. However it is not needed to install this package since the necessary header file is included.

Monocular VO package. Parameters;

• odom_frame_id (default /odom)
• base_link_frame_id (default /base_link)
• sensor_frame_id (default /camera)
• publish_tf (default true)
• invert_tf (default false)
• cam_model
• cam_width
• cam_height
• cam_fx
• cam_fy
• cam_cx
• cam_cy
• cam_d0 (default 0.0)
• cam_d1 (default 0.0)
• cam_d2 (default 0.0)
• cam_d3 (default 0.0)
• image_topic
• rectify_image
• min_number_of_features
• ransac_threshold
• ransac_confidence
• feature_detector_threshold
• feature_tracker_window_size
• feature_tracker_max_pyramid_level
• feature_tracker_max_iterations
• feature_tracker_epsilon
• feature_tracker_eigen_threshold
• visualize
• visualize_frame_tracking
• visualize_color_variety