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+SVO
+===
+
+Disclaimer
+----------
+
+SVO has been tested under ROS Groovy and Hydro and Ubuntu 12.04 and 13.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
+
+Installation Instructions
+-------------------------
+
+#### OPTIONAL: g2o - General Graph Optimization
+
+Only required if you want to run bundle adjustment. It is not necessary for visual odometry.
+g2o requires the following system dependencies: `cmake, libeigen3-dev, libsuitesparse-dev, libqt4-dev, qt4-qmake, libqglviewer-qt4-dev`, install them with `apt-get`
+    
+I suggest an out-of-source build of g2o:
+
+    cd workspace
+    git clone https://github.com/RainerKuemmerle/g2o.git
+    cd g2o
+    mkdir build
+    cd build
+    cmake ..
+    make
+    sudo make install
+
+If you don't want to make a system install, then you can replace the cmake command with `cmake .. -DCMAKE_INSTALL_PREFIX:PATH=$HOME/installdir` 
+
+#### Sophus - Lie groups
+
+Sophus by Hauke Strasdat implements Lie groups that we need to describe rigid body transformations.
+
+    cd workspace
+    git clone https://github.com/strasdat/Sophus.git
+    cd Sophus
+    git checkout a621ff
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+You don't need to install the library since `cmake ..` writes the package location to `~.cmake/packages/` where CMake can later find it.
+
+#### Fast Detector
+
+The Fast detector by Edward Rosten is used to detect corners.
+To simplify installation we provide a CMake package that contains the fast detector from the libCVD library (http://www.edwardrosten.com/cvd/).
+
+    cd workspace
+    git clone https://github.com/uzh-rpg/fast.git
+    cd fast
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+#### ViKit - Some useful tools that we need
+
+ViKit for instance contains camera models, some math and interpolation functions that SVO needs.
+ViKit is a catkin project, therefore, download it into your catkin workspace source folder.
+
+    cd catkin_ws/src
+    git clone https://github.com/uzh-rpg/rpg_vikit.git
+
+#### SVO
+
+Now we are ready to build SVO.
+Clone it into your catkin workspace
+
+    cd catkin_ws/src
+    git clone https://github.com/uzh-rpg/rpg_slam.git
+
+If you installed g2o then set `HAVE_G2O` in `svo/CMakeLists.txt` to TRUE.
+Then build
+
+    catkin_make
+
+
+Run SVO on a Dataset
+-------------------------
+
+Download this example dataset: [rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag](http://rpg.ifi.uzh.ch/datasets/airground_rig_s3_2013-03-18_21-38-48.bag)
+
+Open a new console and start SVO with the prepared launchfile:
+
+    roslaunch svo_ros test_rig3.launch
+    
+Open a new console and start RViz
+
+    rosrun rviz rviz
+    
+In RViz, load the configuration file (File > Open Config) which is stored in `svo_ros/rviz_config.rviz`.
+
+Now you are ready to start the rosbag. Open a new console and change to the directory where you have downloaded the example dataset. Then type:
+
+    rosbag play airground_rig_s3_2013-03-18_21-38-48.bag
+    
+Now you should see the video with tracked features (green) and in RViz how the camera moves. 
+
+SVO GUI
+-------
+
+Type `rosrun rqt_svo rqt_svo` to run the SVO widget that displays the number of tracked features, the frame rate and provides some interface buttons.
+
+Keyboard Shortcuts
+------------------
+
+Make sure to active the console window when pressing the keys.
+
+* `s`   Start/Restart
+* `q`   Quit
+* `r`   Reset
+
+Parameter Settings
+------------------
+
+A description of all parameters which can be set via the launchfile is provided in `svo/include/config.h`. The default parameters can be viewed in `svo/src/config.cpp`. Moreover, some additional parameters (mainly rostopic names etc.) are read from the ros parameter server in `svo_ros/slam_node.cpp`.
+
+Generating Code Documentation
+-----------------------------
+
+You can generate a Doxygen documentation as follows
+
+    cd svo
+    doxygen Doxyfile
+
+Contributing
+------------
+
+You are very welcome to contribute by opening a pull request via Github.
+I try to follow the ROS C++ style guide.
+
+Licence
+-------
+
+The source code is released under GPLv3 licence. A professional edition license for closed-source projects is also available. Please contact `forster at ifi dot uzh dot ch` for further information.