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LSD SLAM is a state-of-the-art algorithm of monocular SLAM and it works on Indigo. https://github.com/tum-vision/lsd_slam

https://www.youtube.com/watch?v=GnuQzP3gty4

To calibrate your camera, you can use the tool from ethzasl_ptam. http://wiki.ros.org/ethzasl_ptam/Tutorials/camera_calibration

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