- Load C3VD and EndoSLAM
- Mask glare and tools
- SLAM + coverage map + metrics
- Live webcam test and simple viewer window
- ORB-SLAM3 on WSL2 for longer clips
- Better recovery when tracking is lost
- Live SLAM (not only batch files)
- Ureteroscopy phantom tests
- FDA submission
- Patient CT registration
- Stone detection
| Piece | Now | Later |
|---|---|---|
| Input | Files or webcam | Live scope feed |
| SLAM | Fallback VO | ORB-SLAM3 real-time |
| Display | MeshLab or viewer_live.py |
Simple second screen |
| Validation | Colon phantom data | Ureteroscopy phantom |
This is research code. Do not use on patients without full clinical validation.