Run using SVO

REMODE assumes the pose of the camera to be known.

The Semi-Direct Monocular Visual Odometry (SVO) can be used to estimate the pose of a calibrated camera from a live image stream. The approach is described in the paper:

http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf

An open source implementation is available here:

https://github.com/uzh-rpg/rpg_svo

Please refer to the documentation for instructions on how to build and run the code.

NOTE: please make sure you read the license conditions accompanying the source code.

The ROS node running the REMODE pipeline subscribes to the topic

/svo/dense_input

You can learn the details about the message format from the files depthmap_node.cpp and test/publish_dataset.cpp.

SVO publishes the /svo/dense_input topic if you specify the following in the SVO launch file:

<!-- Dense Input -->
<param name="publish_dense_input" value="True" />
<param name="publish_every_nth_dense_input" value="5" />

The latter parameter controls the frequency the /svo/dense_input topic is published, in this case once over five processed frames.