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\subsubsection{Data Collection}  \subsubsection{Camera types}  Two cameras were tested. The first was a Vivotek IP security camera with a narrow lens filming at 15 frames per second at a resolution of 800*600, while the second camera was a GoPro 2 with a wide-angle lens filming at 30 frames per second at a resolution of 1280*960. Both cameras encoded video in H.264, although the GoPro used a significantly larger bitrate. The consumer-grade GoPro provides higher-quality videos, however, these gains for feature tracking ar minimal while the video files are much larger and more difficult to handle and process.  \subsubsection{Software}  The software is open-source.  \begin{itemize}