Modified Ethzasl_ptam

Modified version of Ethzasl_ptam by James Lam Yi. See http://wiki.ros.org/ethzasl_ptam for a detailed overview.

Feature

• Integrate usb_cam launch and RVIZ into one launch file

• Improve response speed while waiting for GrabFram in calibration

Usage

# launch camera calibrator

roslaunch ptam cameracalibrator_start.launch

# launch ptam

roslaunch ptam ptam_start.launch

Documentation

https://sites.google.com/site/zhilongliuwebsite/research/ptam