ROS VERSION: ROS2 Humble
PYTHON VERSION: 3.0+

Installation:
cd ~/ros2_ws/src
git clone [email protected]:Alice-Dragnea/vo_nist.git
cd ~/ros2_ws
colcon build --packages-select vo_nist

Start Node:
ros2 run vo_nist odom

Start Node with Realsense: ros2 launch vo_nist vo_launch.py

Plot Results:
python3 ./scripts/visualize path_to_out.npy

Desc:
visualize.py - plots x, y, z trajectory when given an input file path
voLib.py - helper functions
run.py - node file

Below is a sample trajectory result: