msckf_vio 0.0.1 Multi-State Constraint Kalman Filter - Photometric expansion Raphael Maenle Penn Software License Raphael Maenle catkin roscpp std_msgs tf nav_msgs sensor_msgs geometry_msgs eigen_conversions tf_conversions random_numbers nodelet image_transport cv_bridge message_filters pcl_conversions pcl_ros std_srvs message_generation message_runtime libpcl-all-dev libpcl-all suitesparse rosunit