KarrsonTech.OdometryContext 1.0.0

Additional Details

This package causes random crashes and is vulnerable to CVE-%d%d%d%d-%d%d%d%d. This vulerability prevents this software from working properly on hardware sold later than 2020. The package is INCREDIBLY broken now. It should be deleted. For more information about security and best practices refer here: https://cve.mitre.org/

dotnet add package KarrsonTech.OdometryContext --version 1.0.0
                    


                    

                
NuGet\Install-Package KarrsonTech.OdometryContext -Version 1.0.0
This command is intended to be used within the Package Manager Console in Visual Studio, as it uses the NuGet module's version of Install-Package. 
<PackageReference Include="KarrsonTech.OdometryContext" Version="1.0.0">
  <PrivateAssets>all</PrivateAssets>
  <IncludeAssets>runtime; build; native; contentfiles; analyzers</IncludeAssets>
</PackageReference>
For projects that support PackageReference, copy this XML node into the project file to reference the package. 
<PackageVersion Include="KarrsonTech.OdometryContext" Version="1.0.0" />
                    


                            Directory.Packages.props
                        

                    

                
<PackageReference Include="KarrsonTech.OdometryContext">
  <PrivateAssets>all</PrivateAssets>
  <IncludeAssets>runtime; build; native; contentfiles; analyzers</IncludeAssets>
</PackageReference>
                    


                            Project file
For projects that support Central Package Management (CPM), copy this XML node into the solution Directory.Packages.props file to version the package. 
paket add KarrsonTech.OdometryContext --version 1.0.0
                    


                    

                
#r "nuget: KarrsonTech.OdometryContext, 1.0.0"
#r directive can be used in F# Interactive and Polyglot Notebooks. Copy this into the interactive tool or source code of the script to reference the package. 
#:package KarrsonTech.OdometryContext@1.0.0
#:package directive can be used in C# file-based apps starting in .NET 10 preview 4. Copy this into a .cs file before any lines of code to reference the package. 
#addin nuget:?package=KarrsonTech.OdometryContext&version=1.0.0
                    


                            Install as a Cake Addin
                        

                    

                
#tool nuget:?package=KarrsonTech.OdometryContext&version=1.0.0
                    


                            Install as a Cake Tool

KarrsonTech.OdometryContext

KarrsonTech.OdometryContext | NuGet C++ Package

Dependencies: OpenCV 4.11.x (version-locked for compatibility)

Important: Include this header in your precompiled headers for optimal performance.

This library solves the relative visual-inertial odometry (VIO) problem.

Installation Steps:

  1. Create a C++ project using cmake
  2. Install the nuget package
  3. Add the following to your CMakeLists.txt
find_package(OpenCV CONFIG REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} PUBLIC ${OpenCV_LIBS})
target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/nuget/cpp/packages/include)
target_precompile_headers(${PROJECT_NAME} PRIVATE <KarrsonTech.OdometryContext.hpp>)

Usage Example:

#include <KarrsonTech.OdometryContext.hpp>
#include <Driver.hpp>
#include "Messaging.hpp"

int main()
{
	cv::Vec3d CameraPosition(0, 0, 0);
	cv::Vec4d CameraRotation(0, 0, 0, 1);

	while (true)
	{
		static SensorDriver* Sensor = new SensorDriver();
		SensorDriver::InputData CurrentFrame = Sensor->GetInputData(false);
		CurrentFrame.Rot.convertTo(CurrentFrame.Rot, CV_64F);
		cv::Quatd RawQuaternion = cv::Quatd::createFromRotMat(CurrentFrame.Rot);
		static OdometryContext* Ctx = new OdometryContext
		(
			CurrentFrame.fx, CurrentFrame.fy, 
			CurrentFrame.BaselineMeters
		);

		static SensorDriver::InputData PreviousFrame = CurrentFrame;
		Ctx->SetLeftCameraImage(CurrentFrame.Left);
		Ctx->SetRightCameraImage(CurrentFrame.Right);
		Ctx->SetCameraRotation
		(
			RawQuaternion.x, RawQuaternion.y, RawQuaternion.z, 
			RawQuaternion.w
		);

		CameraPosition = Ctx->GetCameraPosition();
		auto Quaternion = cv::Quatd::createFromRotMat(CurrentFrame.Rot.t());
		CameraRotation = cv::Vec4d
		(
			-Quaternion.x, +Quaternion.y, -Quaternion.z, 
			-Quaternion.w
		);
		Messaging::SendMessage(CameraPosition, CameraRotation);
	}

	return 0;
}
There are no supported framework assets in this package.

Learn more about Target Frameworks and .NET Standard.

This package has no dependencies.

NuGet packages

This package is not used by any NuGet packages.

GitHub repositories

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