mola_libvision

Core C++ library for reusable classic computer vision in MOLA.

Implements feature detection (Shi-Tomasi, grid distributor), pyramidal Lucas-Kanade optical flow, fundamental matrix RANSAC filtering, DLT triangulation, batch undistortion, and a custom Levenberg-Marquardt optimizer. No OpenCV or Ceres dependency — uses MRPT v3 + Eigen + TBB.

• Links
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• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API

• Standard Documents
  • PACKAGE
  • CHANGELOG
  • README
  • LICENSE
• ROS Package Dependencies
  • mola_common
  • mrpt_img
  • mrpt_poses

README

mola_libvision

C++ data structures and algorithms for classic computer vision, the successor to MRPT’s removed mrpt::vision module. Built on MRPT 3.x + Eigen + TBB (no OpenCV, no Ceres).

License

mola_libvision is released under the GNU General Public License v3.0 or later (GPL-3.0-or-later); see the LICENSE file.

Some components are adapted from permissively-licensed projects and retain their original copyright notices in the corresponding source files:

• ORB descriptor bit-pattern table from OpenCV (BSD-3-Clause).

• Bundle-adjustment / marginalization structure inspired by Basalt (BSD-3-Clause).

• Algorithms adapted from lightweight_vio (MIT).