Codes of Davison’s MonoSLAM

Recently, I am investigating codes of Davison's MonoSLAM.For God's name, it's horrible! Though the documents is well developed, the framework is too complicated to understand. So assistant tools are used, such as "Understander for C++" and "Source Insingt".With their help, things become easier, but still it's a hard work.

Publications of Andrew J. Davison do help me to understand Vision-based SLAM,especially MonoSLAM.

Now, I have put myself on Vision-based SLAM and my team are working hard on it.It's a chance but a challenge.