NL11_replay/
    Support for replaying a NavLab11 dataset and running datmo.

demo/
    Scripts for replaying various data clips and recording movies.

gplt/
    Gnuplot scripts for visualizing datmo debug dump data.

matlab/
    Matlab scripts for analyzing tracker performance.

datmo.cc
datmo.h
    The Datmo class, represents an instance of the tracker.  This would
    probably be the best place to integrate the tracker for use outside of the
    NL11/ModUtils software framework.

datmo.cfg
    Config file holding default values of the many parameters for the tracker.

datmomod.cc
datmomod.h
    This the the top-level driver program for running datmo, and is highly
    specific to the ModUtils software architecture.  In any application of the
    tracker, some sort of code is needed to read the scanner data, feed it to
    Datmo and send the results somewhere.  To run datmomod for offline
    analysis you need to set $DATA_DIR to the data directory and $CONFIG_DIR
    to the configuration directory.  You may also need to set
    $LOCAL_CONFIG_DIR, eg. in the case of GD XUV replay, set $CONFIG_DIR to
    Nav/config/ and $LOCAL_CONFIG_DIR to GD/config/

datmomod.cfg
    datmomod.cfg is the default config file for datmomod which is only used in
    offline operation.  In real-time configuarations, the analogous data comes
    from module_params.cfg in the $CONFIG_DIR, e.g. Nav/config/ or
    GD/config/.  It contains basic configuaration parameters for datmomod related
    to what scanners are read and where the result data goes.
    datmomod_changes.cfg is included at the end of datmomod.cfg to change
    parameters appropriately for a particular scanner configuration.  Symlink
    or copy the appropriate _changes_ file to datmomod_changes.cfg.  There is
    no default datmomod_changes, you will get an error that the file is missing
    if you don't do this.

datmomod_changes_NL11.cfg
    Parameters for NavLab 11 replay.

datmomod_changes_bus.cfg
    Parameters for bus data replay.
 
datmomod_changes_static.cfg
    Parameters for static table-top demo.

datmomod_changes_xuv.cfg
    Parameters for XUV 4-scanner config replay.

datmomod_gui.cfg
    If in offline operation, you run using "datmomod datmomod_gui.cfg" instead
    of just "datmomod" then this reconfigures to operate with a GUI timesource
    to allow pausing, stepping and (sometimes) backing up.

datmomod_debug*
    This is a script for running datmomod under GDB in the real-time
    configuration, currently only set up in the GD/config/modules.cfg.  If you
    run e.g. "RepoMan CompositeDATMO_debug" then datmo will run under GDB.

float_trap.cc
float_trap.h
    Support for floating point error detection, either via trapping or polling.

gl_visualize.cc
    Code for visualization of segmentation and tracking behavior.  The methods
    are actually members of the Datmo, Segment and ObjectTrack classes, but
    are factored out here due to their logical affinity and possible
    portability issues.

gsl_fit.h
linear.cc
    Linear regression from the Gnu Scientific Library.

gui.cc
gui.h
    Code related to the FLTK gui used for visualization.

KalmanFilter.h
    A simple linear kalman filter class used in the tracker.

make_left_tracks.cfg
make_tracks.cfg
    These config files can be used regenerate tracker output files
    RightObjectTracks.raw, LeftObjectTracks.raw, used for bus data analysis.

notes.txt
    Notes about the tracker implementation.  These are my working notes, and
    though they may be informative, they should also be regarded as a
    chronological document of my musings at one time, and not as an accurate
    current description of the code or of my current understandings of the
    issues.

ObjectBase.cc
ObjectBase.h
    ObjectBase is the base class for both ObjectTrack and Segment, holding
    both state and methods in common to both tracks and segments.  See also
    gl_visualize.

ObjectTrack.cc
ObjectTrack.h
    ObjectTrack represents the state of a track and methods implement the
    tracker.  See also gl_visualize.

params.cc
params.h
    These files are tightly coupled to datmo.cfg, being code that reads the
    parameters into global variables.  Include params.h to get at these cached
    parameter values.

PointLogger.cc
PointLogger.h
    Class to log deviations of the individual scan points from line/corner
    match, for use in evaluating possible texture recognition algorithms.


ScannerInfo.cc
ScannerInfo.h
    ScannerInfo holds various info that is duplicated per-scanner and provides
    some methods that might have been supplied by the LineScanner class but
    aren't.

Segment.cc
Segment.h
    Segment is summary the measurement of what we hope is a single object.
    See also gl_visualize.

TrackLogger.cc
TrackLogger.h
    This code logs summary statistics of tracker performance, especially
    related to how well the current track state estimate predicts the future
    track motion.  This code is used together with the scripts in matlab/

utils.cc
utils.h
    Various utilities used in more than one file.


Get datmo papers (from throttle) in project directory somewhere
Get texture matlab scripts (from ram2) in CVS
backup of ram2 /home/ram in general.
