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.
Issues in the lab seem to indicate that keyframes are not being added well for narrow FOV cameras. Add in better keyframe selection using CPER method.