Alex Beng's validation scripts(mainly python) for cvat
This repo needs the opencv-python with BUILD_opencv_python3
, OPENCV_ENABLE_NONFREE
and OPENCV_EXTRA_MODULES_PATH
enabled and manually installed.
- simple 2d frame-frame
- frame-map
- capture/video/other source
- feature-match GI location
- template-match-based GI location
- odemeter
- filter-based or optimization-based location
- filter-based, simple KF
- with non-linear mouse model, ESKF.
- frameSLAM, only opt the pose without loop closure. opt in se(2) space.
- reused the Filter-based location
- path/trajectory generation (algorithm needed)
- GI anchor detection
- anchor data parser
- RANSAC-based loaction
- run the SLAM
- ground finding (RANSAC may be used)
- 3D-2D fusion