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This node belongs to the PTAM package of the ETHZASL_PTAM stack. It is a tool to display the PTAM image and information on a remote (ground) station to monitor the status of the PTAM running on the robot.


The remote interface shows the feature trails during the initialization phase and displays the ground plane grid generated after initialization. It does not display the map features in the image plane nor has a mode for 3D display of the map points and camera pose.

The following keyboard inputs are supported by the remote interface:

Node Information


node to display the PTAM information on a remote machine

Subscribed Topics

vslam/preview (sensor_msgs/Image)

Published Topics

vslam/key_pressed (std_msgs/String)

2019-12-07 12:59