Hello,

I am trying out the new semi-direct visual odometry package in ROS: https://github.com/uzh-rpg/rpg_svo/wiki

As input images I use a Logitech usb camera with 30 fps and 640x480 resolution.

Now I tried it to run with rpg-svo in ROS but there are no features detected.

I used the pinhole-camera-model (cameracalibrationpackage) since I am sitting behing a proxy and can't install the ethzasl_ptam package with its atan-camera-node.

Would anybody with an installed ROS-ethzasl_ptam package be so kind and compute my atan-camera file?

Here is a bag-file with a short sequence of the chessboard to be used: https://drive.google.com/file/d/0B7PHxRc6ORg6OXVxc1MxUF9yTWc/view?usp=sharing

Now for a short sequence bagfile of our table (downward camera) https://drive.google.com/file/d/0B7PHxRc6ORg6OThlU0s0R3R3N0E/view?usp=sharing

Does anybody know how to fix the sttings that it works with the bagfile? additional question: how do i set the shutter time for m webcam in usb_camera node?

Thanks!