strasdat/ScaViSLAM — Issue #6: Option 1: Integrate DWO back-end with PTAM.
Author: strasdat
Created: 2011-12-04 21:07:33+00:00
State: open
Labels: Future Features

This is more complicated because of the license issue, but I think there are way around

Apart from this, I'd recommend the following steps:

- First, integrate PTAM with pangolin. Check whether PTAM still works well.
- Second, integrate PTAM with the ScaViSLAM::FrameGrabber (and set the PTAM distortion model to identity).
This requires to write some wrappers between Eigen+OpenCV and TooN+CVD. Check whether PTAM still works well.
- Replace the pointer-based map structures in PTAM with index based map structures. Again, check whether PTAM still works well!
- Finally remove the BundleAdjuster from PTAM and integrate PTAM with DWO.