This code is a part of the practical course "Vision-based Navigation" (IN2106) taught at the Technical University of Munich.
It was originally developed for the winter term 2018. The latest iteration is summer term 2021.
The authors are Vladyslav Usenko, Nikolaus Demmel, David Schubert and Zhakshylyk Nurlanov.
The code for this practical course is provided under a BSD 3-clause license. See the LICENSE file for details.
Parts of the code (include/tracks.h, include/union_find.h) are adapted from OpenMVG and distributed under an MPL 2.0 licence.
Parts of the code (include/local_parameterization_se3.hpp, src/test_ceres_se3.cpp) are adapted from Sophus and distributed under an MIT license.
Note also the different licenses of thirdparty submodules.
You can find setup instructions here.