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.
Clone or download
Pull request Compare This branch is 147 commits ahead of aharmat:master.
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
cmake_modules
groups
include/mcptam
launch
masks
msg
params
poses
scripts
src
srv
test
.gitignore
.travis.yml
CMakeLists.txt
COPYING
Doxyfile
LICENSE
README.md
mainpage.dox
package.xml

README.md

mcptam travis

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).

Licence

*************************************************************************
 *  
 *  
 *  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
 *  
 *  
 *************************************************************************