FastPBM Enhancements

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Suggestions for enhancement:
1. Return tracked features in terms of rays or pixel positions (not only rays).
2. Use rotation from supplied trajectory during refresh to predict feature 
locations. This will speed up tracking because iterations end once the feature 
location is refined beyond a threshold.
3. Consider replacing KLT tracking with a Eigenvalue-of-Hessian matching 
tracker with spiralling feature selection (as in LASLAM work).

Original issue reported on code.google.com by dddvis...@gmail.com on 13 Oct 2010 at 5:51

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Original comment by dddvis...@gmail.com on 13 Oct 2010 at 5:52

• Added labels: Type-Enhancement
• Removed labels: Type-Defect

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Issue 36 has been merged into this issue.

Original comment by dddvis...@gmail.com on 13 Oct 2010 at 6:24

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Original comment by dddvis...@gmail.com on 13 Oct 2010 at 6:26

• Changed title: FastPBM enhancements

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Original comment by dddvis...@gmail.com on 13 Oct 2010 at 6:26

• Changed title: FastPBM Enhancements