OpenARK Code Structure

src and include/openark contain 6 directories in common that make up a majority of the code base for OpenARK.

1. camera: Mostly wrapper classes around each camera's SDK that provide a common API for modules in OpenARK.
2. hand_and_avatar: Code pertaining the hand and avatar tracking modules of OpenARK.
3. okvis: Currently empty folder that will in the future house OpenARK's Visual-Inertial Odometry. As of the writing of this document, OpenARK attaches to OKVIS as a separate library and dependency. Migrating this into OpenARK would reduce the need for redundant data structures and unnecessary data transfers.
4. slam: OpenARK's backend SLAM. These classes manage OKVIS and implement the multi map backend.
5. slam_camera: OpenARK's beta Azure Kinect camera class for SLAM. This was deprecated at the end of the 2021-2022 school year in favor of continuing with stereo cameras as the primary sensor.
6. util: Miscellaneous classes for visualization, 3D reconstruction backend, etc.

Additionally, src contains a 3drecon folder, which houses OpenARK's 3D recon module.