Would you like to contribute to the OpenPTrack codebase? 

The OpenPTrack source code and most developer documentation is available on GitHub. Pull requests and contributions are welcome. Current and potential developers are encouraged to join the openptrack-dev mailing list. Please send an introductory message about your interests. (You can also email us at

OpenPTrack is built on other open source libraries: the Point Cloud Library (PCL) and Robot Operating System (ROS). As OpenPTrack is under heavy development, changes in its architecture and API may occur. For more information, please see the Roadmap

OpenPTrack is licensed with a BSD-style license with an attribution requirement. If you use this code, please cite:

—M. Munaro, F. Basso and E. Menegatti. OpenPTrack: Open Source Multi-Camera Calibration and People Tracking for RGB-D Camera Networks. Journal on Robotics and Autonomous Systems, vol. 75, part B, pp. 525-538, Elsevier, 2016.

—M. Munaro, A. Horn, R. Illum, J. Burke and R. B. Rusu. OpenPTrack: People Tracking for Heterogeneous Networks of Color-Depth Cameras. In IAS-13 Workshop Proceedings: 1st Intl. Workshop on 3D Robot Perception with Point Cloud Library, pp. 235-247, Padova, Italy, 2014.

—M. Munaro and E. Menegatti. Fast RGB-D People Tracking for Service Robots. Journal on Autonomous Robots, vol. 37(3), pp. 227-242, Springer, 2014.

(Read our general overview of how OpenPTrack works.)