Hi, this issue has probably been raised before, but it would be great to have ROS 1 support (noetic).

If you know of someone else's re-implementation of this work in ROS 1, particularly work that does multi-camera VO using Elbrus, it would be appreciated if you could point us to it.

If you could give detailed instructions on how to convert this to a ROS 1 package (as we may not know how the internals of this system really work), it would save us a lot of time should we have to make our own implementation.

Thanks