Running lib viso

edit

I want to use lib viso with a bag file having these topics :

/clock
/kitti/camera_color_left/camera_info
/kitti/camera_color_left/image_raw
/kitti/camera_color_right/camera_info
/kitti/camera_color_right/image_raw
/kitti/camera_gray_left/camera_info
/kitti/camera_gray_left/image_raw
/kitti/camera_gray_right/camera_info
/kitti/camera_gray_right/image_raw
/kitti/oxts/gps/fix
/kitti/oxts/gps/vel
/kitti/oxts/imu
/kitti/velo/pointcloud
/rosout
/rosout_agg
/tf
/tf_static

What is the parameters that I should pass to rosrun :

rosrun  libviso2  ....