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.
This Map file contains an inital DCTAM map for the experiment
Issues
For Tracker issues goto Tracker Issues
For Mapper issues goto Mapper Issues