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