All of our open source software can be found on our github page. Below is a summary and links to the code we have developed for ground and aerial robotics applications.

MCPTAM

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.

Ximea Camera Drivers

We have developed ROS drivers for the ximea xiQ USB 3.0 Cameras.  Our driver is capable of handling multiple cameras, so long as there is sufficient data available on the USB 3.0 bus.

Lightware Altimeter Driver

We have developed a simple ROS serial driver for the Lightware SF10 altimeter.  The driver will likely work with other Lightware altimeters, though functionality has not been explicitly tested.