Temporary container to hold the g2o edge with reference to frame and point.

Temporary container used for corner detection. Features are initialized from these.

All detectors should derive from this abstract class.

Global configuration file of SVO. Implements the Singleton design pattern to allow global access and to ensure that only one instance exists.

Depth filter implements the Bayesian Update proposed in: "Video-based, Real-Time Multi View Stereo" by G. Vogiatzis and C. Hernández. In Image and Vis

Edgelete detector

FAST detector by Edward Rosten.

A salient image region that is tracked across frames.

A frame saves the image, the associated features and the estimated pose.

Base class for various VO pipelines. Manages the map and the state machine.

Monocular Visual Odometry Pipeline as described in the SVO paper.

Tracks features using Lucas-Kanade tracker and then estimates a homography.

estimates scale by computing the median absolute deviation

Map object which saves all keyframes which are in a map.

Container for converged 3D points that are not already assigned to two keyframes.

Patch-matcher for reprojection-matching and epipolar search in triangulation.

estimates scale by computing the standard deviation

grid size change detector, like dso