| Module name | Short description | Publishes | Subscribes |
| StereoOdometry_libviso | Stereo visual odometry using libviso2 | MORA_IMAGES_DIR , STEREO_RECT_OBS |
| Parameter | Description |
FORZE_Z0 |
(Default=false) Forze Z coordinate to be always exactly zero. |
NEW_KF_MIN_ANG |
(Default=15) Minimum angle (degrees) between reference KeyFrames. |
NEW_KF_MIN_XYZ |
(Default=0.25) Minimum linear distance (in meters) between reference KeyFrames. |
SAVE_ODO |
(Default=false) Save dead-reckoning from visual odometry to a plain text log file. |
STEREO_RECT_VARNAME |
(Default="STEREO_RECT_OBS") The name of the variable with the input stream of stereo images (they must be rectified) |