Distributed Collaborative Tracking and Mapping

Dependencies

System

	sudo apt-get install libblas-dev liblapack-dev mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev
	

ROS Packages

        sudo apt-get install ros-indigo-pcl-ros ros-indigo-multimaster-fkie
        

Tracker Installation

		cd ~/catkin_ws/src
		git clone git@github.com:richardw347/dctam_tracker.git
		git clone git@github.com:richardw347/dctam_msgs.git
		cd ..
		catkin_make
	

Mapper Installation

		cd ~/catkin_ws/src
                git clone git@github.com:richardw347/dctam_tracker.git
                git clone git@github.com:richardw347/dctam_msgs.git
		cd ..
		catkin_make
        

Camera Calibration

Please see PTAM Camera Calibration

Datasets

This dataset contains 8 bag files of image sequences and groudtruth data recorded from our simulator.

• Map
• Arnold
• Bob
• Chappie
• Dave
• Hal
• Murphy
• T1000
• Tars

This Map file contains an inital DCTAM map for the experiment

Issues

For Tracker issues goto Tracker Issues

For Mapper issues goto Mapper Issues