MCPTAM is a set of ROS nodes for running Real-time 3D Visual Simultaneous Localization and Mapping (SLAM) using Multi-Camera Clusters. It includes tools for calibrating both the intrinsic and extrinsic parameters of the individual cameras within the rigid camera rig.
Visit the MCPTAM website (https://github.com/wavelab/mcptam).
For more information, refer to the MCPTAM Wiki
A Getting-Started Guide is available on the Wiki, or a snapshot can be found in the file Getting-Started.pdf.
If you use this software, please consider citing the following papers:
A. Harmat, M. Trentini and I. Sharf "Multi-Camera Tracking and Mapping for
Unmanned Aerial Vehicles in Unstructured Environments" in Journal of
Intelligent and Robotic Systems, vol. 78, no. 2, pp. 291-317, May 2015
(http://link.springer.com/article/10.1007%2Fs10846-014-0085-y)
Michael J. Tribou, Adam Harmat, David W.L. Wang, Inna Sharf, and Steven L.
Waslander. Multi-camera parallel tracking and mapping with non-overlapping
fields of view. In The International Journal of Robotics Research,
34(12):1480-1500, October 2015. doi:10.1177/0278364915571429
(http://ijr.sagepub.com/content/early/2015/04/22/0278364915571429.abstract).
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*
*
* Copyright 2014 Adam Harmat (McGill University)
* [adam.harmat@mail.mcgill.ca]
* Michael Tribou (University of Waterloo)
* [mjtribou@uwaterloo.ca]
*
* Multi-Camera Parallel Tracking and Mapping (MCPTAM) is free software:
* you can redistribute it and/or modify it under the terms of the GNU
* General Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* MCPTAM is based on the Parallel Tracking and Mapping (PTAM) software.
* Copyright 2008 Isis Innovation Limited
*
*
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