Doing trails between each frame
Got framework for fundamental stuff working
Basically have a very shitty visual odometry system working
Got surf features working-ish, needs cleanup though
Have relative pose working with sift features
Filtering points based on response
Added method to return internal camera matrix to ATANCamera
Busy writing fundamental matrix decomposition
Renamed matched to avoid conflicts with libviso
Added libviso, no conflicts
Put Viso's matrix class in its own namepsace to avoid conflicts with Toon
Viso seems to be running, yet to check how well or actually use results
Data transfer to viso's image structure seems to be working correctly
Viso working well
Modified viso to allow turning their scaling using the plane on and off
Fixed error that came from applying odometry pose twice
Took trackers draw routine out, it draws as part of other functions
Cleaned up odometry routine a bit
Cleaned up viso class. No can input scale at each processing step
Viso is converting to its own data structure within its processing function