Unofficial fork of OpenVSLAM for usage with ROS.

Modify the run_slam.cc and run_localization.cc files to publish point cloud and localization data to ROS topics. To install the package, follow the official OpenVSLAM documentation.

Topics published:

• /openvslam/point_cloud (sensor_msgs/PointCloud2): tracking sparse point cloud
• /openvslam/camera_pose (geometry_msgs/PoseStamped): camera pose

Topics subscribed:

• /camera/image_raw (sensor_msgs/Image): input RGB(-D) video stream