Code is written in Java (+ few OpenGL shaders) and build by Maven. As soon as you understand these, you should be able to build the project and run the test applications. Test applications are executable classes within test sources. Main classes are CameraPoseVideoTestApp and CameraPoseJoglTestApp.

Regarding the expected level of knowledge. It will be very helpful if you have some knowledge about linear algebra, homogenous coordinates, RGB image representation, pinhole camera model and perspective projection. Although I will try to keep the required level to the minimum, it is too much to explain every little thing in detail.

Now let me make a note about the quality of the result. There are 2 main factors which affect quality – implementation and environment. I will cover one type of implementation. Will let you judge how good it is. Please leave me comments, especially if you have a concrete idea to improve. The second factor which matters is the environment. This includes everything from camera quality, noise, distractions in the scene, lighting, occlusion, till the time you can spend on the processing each frame. Even today’s state of the art algorithms will fail under the crappy environment. Please keep this in mind, when you do your own experiments.