Structsยง
- Bundle
Adjuster - Camera
Intrinsics - Camera intrinsic parameters
- Feature
Matcher - Feature matcher using Brute Force For each descriptor in the first set, this matcher finds the closest descriptor in the second set by trying each one. This descriptor matcher supports masking permissible matches of descriptor sets.
- Keyframe
Config - Keyframe selection criteria
- Keyframe
Selector - Keyframe selector for visual odometry
- Map
- A global map containing all 3D points and their observations
- MapPoint
- A 3D map point
- Observation
- OrbDetector
- Simple ORB feature detector wrapper
- Pose
Estimator - Pose estimator for VO
- Trajectory
- Trajectory tracker for visual odometry
- Trajectory
Point - Single trajectory point with metadata
- Triangulator
- Triangulator for computing 3D points from 2D correspondences