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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).