Visual Reconstruction and Localization Toolkit
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
BundleAdjustment
Estimator
FeatureExtraction
FeatureMatcher
GLUtils
ImageCache
Localizer
LocalizerClient
LocalizerServer
MultiView
PatchTracker
SfMPipeline
Test
cmake/Modules
docs
iOSLibs
iOSRecorder
iOSTracker
.gitignore
CMakeLists.txt
LICENSE.txt
README.md

README.md

vrlt

Visual Reconstruction and Localization Toolkit

Jonathan Ventura
Assistant Professor
University of Colorado Colorado Springs
http://jventura.net/

This software was developed for my 2012 Ph.D. dissertation and later extended and improved. If you use it, please cite the following work:

Ventura, J., and T. Höllerer, "Wide-Area Scene Mapping for Mobile Visual Tracking", IEEE International Symposium on Mixed and Augmented Reality, 2012.

Dependencies

Under OS X, we recommend installing dependencies with Homebrew.

  • Eigen (brew install eigen)
  • Sophus (build from the current github master: https://github.com/strasdat/Sophus ; requires Eigen3)
  • Ceres (brew install ceres-solver)
  • geographiclib (brew install geographiclib)
  • OpenCV 3 (brew install opencv3 --with-nonfree --with-contrib --without-eigen) OpenCV version 3 is needed for the LSD line detector. The --without-eigen flag is necessary to avoid a conflict with Ceres. The flags --with-non-free and --with-contrib are needed for SIFT. Homebrew refuses to link opencv3, but the CMakeLists.txt is configured to look for it at the Homebrew installation location /usr/local/opt/opencv3/share/OpenCV.

Compilation

Follow the typical process for building with CMake:

mkdir build
cd build
cmake ..
make

Testing

The wiki contains tutorial documents for how to run the reconstruction pipeline and tracker.

A test dataset is available here (about 400 MB).