BoofCV is an open source library written from scratch for real-time computer vision. Its functionality covers a range of subjects, low-level image processing, camera calibration, feature detection/tracking, structure-from-motion, fiducial detection, and recognition. BoofCV has been released under an Apache 2.0 license for both academic and commercial use.
BoofCV is organized into several packages: image processing, features, geometric vision, calibration, recognition,visualize, and IO. Image processing contains commonly used image processing functions which operate directly on pixels. Features contains feature extraction algorithms for use in higher level operations. Calibration has routines for determining the camera's intrinsic and extrinsic parameters. Recognition is for recognition and tracking complex visual objects. Geometric vision is composed of routines for processing extracted image features using 2D and 3D geometry. Visualize has routines for rendering and displaying extracted features. IO has input and output routines for different data structures.