GIFT
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pvangoor
General Invariant Feature Tracker (GIFT) detects and tracks image features such as corners and points in common camera set-ups such as monocular, stereo, and multi-view.
General Invariant Feature Tracker (GIFT)
GIFT is an image feature tracking library for monocular cameras. The goal is to provide a package which simplifies the process of detecting and tracking features from a sequence of images. A number of variants have been implemented including LKT-based tracking and ORB feature tracking. The library aims to provide a generic interface to each of these methods.
Dependencies
Currently the GIFT depends on both Eigen 3 and OpenCV 3. In the future the dependency on Eigen may be removed.
- Eigen3:
sudo apt install libeigen3-dev - OpenCV:
sudo apt install libopencv-dev - yaml-cpp:
sudo apt install libyaml-cpp-dev
If you choose to build the tests, googletest will be automatically added to the build directory.
Building and Installing
GIFT can be built and installed using cmake and make.
git clone https://github.com/pvangoor/GIFT
cd GIFT
mkdir build
cd build
cmake ..
sudo make install
Citing
GIFT was developed for use in an academic paper. If you use GIFT in an academic context, please cite the following publication:
van Goor, Pieter, et al. "A Geometric Observer Design for Visual Localisation and Mapping." 2019 IEEE 58th Conference on Decision and Control (CDC). IEEE, 2019.
pvangoor