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We just released our ROS-Wrapper for libviso2, called viso2_ros. It contains nodes for monocular and stereo odometry. Every parameter from libviso2 can be set through ROS. Odometry information is published as nav_msgs/Odometry and geometry_msgs/PoseStamped as well as through a tf for easy visualization through rviz. Have a look at the corresponding ros wiki page for further information.

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