A small tool that detects keypoints in an image or a sequence of images via ORB*. Meant to plug into https://github.com/raulmur/ORB_SLAM2, but works as a keypoint visualizer on its own. The focus is on distributing the keypoints, 8 different distributions are implemented, some good, some not so much. Most relevant parameters can be adjusted via a simple gui.

*see: http://www.willowgarage.com/sites/default/files/orb_final.pdf

To analyze any single image pass: path_to_settings_file path_to_image 0 (the 0 is for single image mode), eg:

ORBextractor ORBextractor/settings.yaml /home/myname/Downloads/pics/mypic.jpg 0

Since this was meant for testing purposes with TUM datasets the sequence mode expects the images to be in /rgb within the folder passed via argument:

ORBextractor ORBextractor/settings.yaml /home/myname/SLAM/mysequence/ 1

https://github.com/stevenlovegrove/Pangolin

http://opencv.org/