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.
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Tracker: pull entropyThresh out into a parameter #47
Todo listed on line 506 in Tracker.cpp.
double entrophyThresh = -4.0; //todo pull this out to a param.