and my fork is at
I have also made a fork of the vision tools at https://github.com/arcanon/VisionTools to update some things to support windows. I guess other packages also need some special changes and those are not all there yet.
Runs at 2-3 fps with a debug build (all dependent libraries as well). Very, very fast :). on the default width = 512 and height = 384.
|Proof that ScaViSLAM runs on windows|
So the next step is to plug the previous stuff I did with the stereo camera into this system from http://subgroup-ash.blogspot.de/2013/11/stereo-camera-with-block-matching.html. The UI of ScaViSLAM is also really nice, all GL and has perf and nice input fields. So the final system I create would change to this system probably.
To plug in my stereo camera, I have to work out the relation from the stereo matrices calculated in the stereo calibration because ScaViSLAM uses a slightly different start point. I think there the stereo camera is always calibrated and the camera "baseline" is well defined. Should work, but need to figure out the maths that gets the right values at the right places.
In general the next steps could be:
1.) Compiling a complete ROS (robot operating system). This could be linux or windows, mostly just important to have access to the rich environment that ROS offers. such as the PTAM implementation.
2.) Think about porting ScaViSLAM to that environment.
3.) Think about using PTAM (http://wiki.ros.org/ethzasl_ptam/ptam)