stella_vslam_examples

This fork extends run_kitti_slam with rectified stereo input, per-frame tracking-status logging, and an optional Rerun viewer. When built with rerun_sdk, the relevant native options are:

--viewer rerun
--rerun-output recording.rrd
--ground-truth poses.txt
--rerun-no-spawn

The Rerun recording includes the left image and feature points, camera trajectory, keyframes, landmarks, tracking/timing metrics, and an optional rigidly aligned KITTI-format ground-truth trajectory. The higher-level CLID runner in the sibling stella_vslam fork launches the viewer and supplies these options automatically:

cd ../stella_vslam
./scripts/run_clid_slam.py DATASET \
  --calibration CALIBRATION_DIRECTORY \
  --rerun

License

This module was originally included in xdspacelab/openvslam. Therefore, the license follows the original license of xdspacelab/openvslam (BSD 2-Clause).

The following files are derived from third-party libraries.

• ./3rd/filesystem : gulrak/filesystem (MIT license)
• ./3rd/popl : badaix/popl [v1.2.0] (MIT license)