Besides SVO, ROVIO is a recently released VO. To build it, first git clone the source code and the kindr, then download the lightweight_filtering from bitbucket and replace the empty folder in the rovio source code.
Next, install kindr and create a new catkin workspace. In the src folder, create a new package called rovio, and replace it with the source code of rovio. Then catkin_make rovio -DCMAKE_BUILD_TYPE=Release, note that we do not use --cmake-args. Then catkin_make again to build the nodes.
To run the code, use roslaunch rovio_rosbag_node.launch, and the path for the rosbag can be changed.
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