Visual Reconstruction and Localization Toolkit
University of Colorado Colorado Springs
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.
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-eigenflag is necessary to avoid a conflict with Ceres. The flags
--with-contribare needed for SIFT. Homebrew refuses to link opencv3, but the CMakeLists.txt is configured to look for it at the Homebrew installation location
Follow the typical process for building with CMake:
mkdir build cd build cmake .. make
The wiki contains tutorial documents for how to run the reconstruction pipeline and tracker.
A test dataset is available here (about 400 MB).