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.
Motion update should be done per group, rather than on the overall rig pose. When running with 2 or more groups, the rig pose will jump back and forth a bit, but with very little time delay, making the apparent velocity very high and messing up the estimated pose at the next time step.
Motion update should be done per group, rather than on the overall rig pose. When running with 2 or more groups, the rig pose will jump back and forth a bit, but with very little time delay, making the apparent velocity very high and messing up the estimated pose at the next time step.