PTAM-GPL

PTAM (Parallel Tracking and Mapping) re-released under GPLv3.

What is PTAM

PTAM is a monocular SLAM (Simultaneous Localization and Mapping) system useful for real-time 6-DOF camera tracking in small scenes. It was originally developed as a research system in the Active Vision Laboratory of the University of Oxford, as described in the following papers:

• Georg Klein and David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", Proc. ISMAR 2007
• Georg Klein and David Murray, "Improving the Agility of Keyframe-based SLAM", Proc. ECCV 2008

Requirements

• GVars3
• OpenGL
• CVD
• TooN

Building

Use the included script ./utils/make.sh or follow these steps:

• create a build-directory and change to it: mkdir build && cd build
• run cmake: cmake ..
• build: make

Previous PTAM release

PTAM was initially released in 2008 by Isis Innovation under a license suitable for academic use. That version is also available for commercial use subject to a license agreement with Isis Innovation. That version remains available here: http://www.robots.ox.ac.uk/~gk/PTAM/

This code represents a re-licensed fork of Isis Innovation's PTAM Source Code Release v1.0-r114.