LaserTitan is a rebuild for MCPTAM to move to more modular code that reuses common libraries used in ROS. We will rebuild MCPTAM in a few stages, and the o.1 stage is as defined in the roadmap:

0.1 - EKF tracker which handles multi-camera measurement bundles, Fast feature detection and KLT matching in OpenCV, cartesian and IDP feature parametrizations, additive pose updates in SE(3), simple keyframe selection, GTSAM for the backend, stock intrinsic calibration, stereo extrinsic calibration, rqt for the gui, eigen.