# uzh-rpg/rpg_svo_pro_open

Repository: https://github.com/uzh-rpg/rpg_svo_pro_open
Canonical: https://ross.abutalabs.com/products/rpg_svo_pro_open
Language: C++
License: GPL-3.0
License Family: copyleft
Last push: 2024-01-19T05:56:46+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 1877, "days_push": 957, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1601, forks 416 (observed 2026-08-28T04:05:09.665316+00:00)

## What it is
SVO Pro is a C++ implementation of Semi-direct Visual Odometry from the Robotics and Perception Group at University of Zurich, supporting monocular and stereo setups with perspective and fisheye cameras. It extends to visual-inertial odometry and full visual-inertial SLAM with sliding-window optimization, global bundle adjustment via iSAM2, and loop closure using DBoW2.

## Use cases
- estimate camera trajectory from monocular or stereo video
- run visual-inertial odometry on drone or robot sensor data
- build a globally consistent SLAM map with loop closure
- benchmark SLAM pipelines on the EuRoC dataset
- handle fisheye or catadioptric camera models in odometry
- control camera exposure actively for robust tracking

## When to choose
- you need a fast, research-grade visual or visual-inertial odometry front-end in C++
- you want full SLAM with global bundle adjustment and loop closure
- you work with ROS and standard datasets like EuRoC
- you need support for fisheye and catadioptric camera models

## When to avoid
- you need a permissively licensed solution for commercial products (GPLv3)
- you want a plug-and-play consumer SLAM app rather than a research codebase
- you need RGB-D or LiDAR-based SLAM
- you require long-term maintenance and frequent updates

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, simulation, graphics
- domain: robotics, autonomous-vehicles, computer-vision
- platform: cpp
- tags: visual-odometry, slam, visual-inertial-odometry, loop-closure, bundle-adjustment, robotics-research, euroc, algorithms, linux, ros

## Member repositories
- uzh-rpg/rpg_svo_pro_open (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:09.665316+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:52:49.612734+00:00, confidence not recorded.
  - readme: https://github.com/uzh-rpg/rpg_svo_pro_open (fetched 2026-08-28T04:05:09.665316+00:00, sha b8f643b62ac4)
- Data as of 2026-08-30T08:39:29.467469+00:00.