Features

• an user interface allowing to
  • record multiple view video stream,
  • calibrate cameras and stereo rigs,
  • compute visual odometry trajectory,
  • display odometry trajectory and data.
• stereo visual odometry algorithm.
• algorithm to track calibration target.
• multiple view video stream acquisition.

Dependencies

• Aravis (access to GenICam cameras)
• Cuda (optional, Nvidia GPU programming)
• Eigen3 (linear algebra primitives)
• g2o (graph optimization)
• libjpeg-turbo (fast JPEG implementation)
• nanoflann (nearest neighbors search)
• OpenCV (general purpose computer vision)
• openscenegraph (3d visualization)
• Qt5 (user interfaces)
• Sophus (representation of geometric transformations)