Mezzanine is an overhead 2D
visual tracking package intended primarily for use as a mobile robot
metrology system. It uses a camera to track objects marked with
color-coded fiducials, and infers the pose (position and orientation)
of these objects in world coordinates. Mezzanine will work with most
color cameras (even the really cheap ones), and can correct for the
barrel distortion produced by wide-angle-lenses.
Mezzanine is language and architecture neutral: object poses are
written into a shared memory-mapped file which other programs can read
and make use of as they see fit. Mezzanine itself is written in pure
C and was developed under Linux on x86 hardware.