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Text Elements

Stereo Camera

Rectifier

right_img_raw

Stereo Disparity

Rectifier

left_img_raw

left_img_rect

right_img_rect

DisparityToDepth

ORB

LeastSquares

t-1, t

t-1, t

T, R

Visual Odometry

VIC

PVA

CPU

CUDA

Format Converter (grayscale)

left_img_rect_gray

right_img_rect_gray

Format Converter (grayscale)

img_raw

Stereo Image Splitter

Resize (downscale)

Resize (downscale)

Backends

left_img_rect_gray

left_img_rect_gray_resize

right_img_rect_gray_resize

Feature Tracker