Visual Odometry in fuse?

[jeremysalwen]

Is fuse appropriate for doing visual odometry inside the framework? i.e. having fuse optimize the matched keypoints directly? Or is it expected that you will be doing the matching externally and just sending the transformation + covariance to fuse in order to fuse it?

If so, are there examples of such use cases?

[vinnnyr]

It appears that this PR #352 addresses adding somethings that might be needed for performing matching inside the package