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.
If a mask is specified for a camera that doesn't appear in the group, the program crashes since it tries to create a TaylorCamera on the fly.