dso

Minimizes error directly on pixel intensities, avoiding feature matching pitfalls and providing higher accuracy under good calibration, as emphasized in the DSO paper.

Uses a sparse set of points for optimization, enabling real-time performance on standard hardware with preset modes for speed/accuracy trade-offs.

Incorporates lens vignetting and non-linear response functions, improving robustness to lighting variations, as demonstrated with TUM monoVO datasets.

Provides wrapper interfaces for custom image input, visualization, and data output, allowing easy integration into projects like ROS without modifying core logic.