An modification of the S-PTAM implementation:
Taihú Pire et al. ≪S-PTAM: Stereo Parallel Tracking and Mapping≫. Em: Robotics and Autonomous Systems 93 (2017), pp. 27–42. DOI: https://doi.org/10.1016/ j.robot.2017.03.019. URL: https://www.sciencedirect.com/science/ article/pii/S0921889015302955.