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.
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.
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 installGIFT 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.