{"adoption": {"forks": 920, "observed_at": "2026-08-28T04:06:53.120164+00:00", "stars": 2454}, "canonical_url": "https://ross.abutalabs.com/products/dso", "card": {"archived": false, "artifact_type": "library", "description": "Direct Sparse Odometry", "domain": ["computer-vision", "robotics", "autonomous-vehicles"], "enriched": true, "function": ["computer-vision", "graphics", "math"], "health_score": 20, "homepage": null, "language": "C++", "license": "GPL-3.0", "license_family": "copyleft", "maturity": "maintenance", "member_repos": ["JakobEngel/dso"], "name": "JakobEngel/dso", "platform": ["cpp", "cross-platform"], "pushed_at": "2024-02-23T16:15:26+00:00", "repo": "JakobEngel/dso", "stars": 2454, "tags": ["visual-odometry", "slam", "direct-methods", "monocular-camera", "photometric-calibration", "research-code", "algorithms", "linux"], "topics": [], "urls": [], "use_cases": ["estimate camera trajectory from monocular video", "run visual odometry on the TUM monoVO dataset", "build SLAM or AR applications needing camera pose tracking", "research direct-method odometry and photometric calibration", "recover sparse 3D point clouds from image sequences", "run odometry on embedded ARM devices"], "what_it_is": "DSO (Direct Sparse Odometry) is a C++ library implementing monocular visual odometry using direct sparse methods with photometric calibration. It estimates camera trajectory and a sparse 3D map from image sequences, and ships with a binary for running on benchmark datasets.", "when_to_avoid": ["you need RGB-D or stereo odometry out of the box", "you want a maintained production SLAM system with active support", "you need loop closure or full SLAM rather than pure odometry", "you require a permissive license (it is GPL-3.0)"], "when_to_choose": ["you need monocular visual odometry with photometric calibration", "you want a well-cited research implementation of direct sparse methods", "you need a C++ library to link into a larger robotics or AR project", "you are benchmarking odometry on the TUM monoVO dataset"]}, "data_as_of": "2026-08-30T08:39:29.467469+00:00", "members": [{"path": "/products/dso", "repo": "JakobEngel/dso", "role": "main", "score": 32}], "provenance": {"archived": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "artifact_type": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "description": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "domain": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "enriched": {"inputs": [], "kind": "computed", "method": "enrichment_status"}, "function": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "health_score": {"inputs": ["days_since_push", "days_since_release", "archived"], "kind": "computed", "method": "health_v1"}, "homepage": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "language": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "license": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "license_family": {"inputs": ["license"], "kind": "computed", "method": "license_family"}, "maturity": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "member_repos": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "name": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "platform": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "pushed_at": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "repo": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "stars": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "tags": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "topics": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "urls": {"kind": "observed", "observed_at": "2026-08-28T04:06:53.120164+00:00", "source": "github"}, "use_cases": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "what_it_is": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "when_to_avoid": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}, "when_to_choose": {"confidence": null, "enriched_at": "2026-08-30T02:30:07.022682+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "264413a4502116ef082e8f7b62567727bb5a4449d635a9edfcc041421524c32d", "fetched_at": "2026-08-28T04:06:53.120164+00:00", "kind": "readme", "missing": false, "url": "https://github.com/JakobEngel/dso"}], "taxonomy_version": 1}}, "score": {"components": {"activity": 0, "longevity": 100, "rhythm": 35}, "computed_at": "2026-09-02T17:46:02.011165+00:00", "flags": ["no_releases"], "formula": "round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)", "inputs": {"age_days": 3584, "days_push": 922, "days_rel": null, "gap_med": null, "n_releases_24m": 0}, "score": 32, "version": 2}, "staleness": {"enrichment_outdated": false, "low_confidence": false, "scrape_days": 9, "stale_scrape": false}}