Make an interface (batch-mode application and Python bindings) for using XIVO without the Tracker. Instead of finding and updating Features using low-level image processing, this interface would create Features and update them directly.
Add some python scripts that generate a point cloud world (with noise), generates a continuous ego-motion, and then uses XIVO's filter-only interface to estimate the ego-motion.
Tracker. Instead of finding and updatingFeaturesusing low-level image processing, this interface would createFeaturesand update them directly.