arduinocc04 / Lucas-Kanade

C++ implementation of inverse compositional and forward additive Lucas-Kanade with coarse-fine technique for translation, euclidean and affine warps. These codes were written while working at @viuron.

This project depends on Eigen and openCV.
Eigen is included.
openCV is used only for debug. If you use DO_NOT_TEST=ON or DO_NOT_USE_OPENCV=ON flags while configuring cmake, you don't need to install openCV.

Acknowledgement

I wrote these codes while working at viuron. This repository is public version of the codes.
Thanks to JunHyok Kong for helps while debugging and understanding Lucas-Kanade.

Documentation

used doxygen.
To generate documentation, go to doc and

doxygen doxy.conf

Coordinate System

0/0---X--->
 |
 |
 Y
 |
 |
 v

(x, y, 1)

Attention

The way accessing value in eigen is (row, column) but in calculating image, the way is (column, row, 1).

References

1. https://www.ri.cmu.edu/pub_files/pub3/baker_simon_2004_1/baker_simon_2004_1.pdf