The node is unchanged with respect to the original code - except the ROS compatibility. You should have a re-projection error of below 0.5. If you have problems calibrating your camera, please have a look at this page.
After successful calibration you obtain the fix PTAM paramters Cam_fx, Cam_fy, Cam_cx, Cam_cy, Cam_s which should be placed in the fix parameter file called by the PTAM node.
cameracalibratornode to calibrate the intrinsic camera parameters
Subscribed Topicsimage (sensor_msgs/Image)
- image to be processed by the node