• 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

• ---

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/aharmat/mcptam).

For more information, refer to the MCPTAM Wiki (https://github.com/aharmat/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 cite 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)

A. Harmat, I. Sharf and M. Trentini "Parallel Tracking and Mapping with Multiple Cameras on an Unmanned Aerial Vehicle" in Intelligent Robotics and Applications Lecture Notes in Computer Science, vol. 7506, pp. 421-432, 2012 (http://link.springer.com/chapter/10.1007%2F978-3-642-33509-9_42)