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

#About 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

#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.

#About PTAM-Plus

This implementation is from the spirit of PTAMM-Plus: Refactoring and Extending PTAMM. It is refactored code of [PTAM] (http://www.robots.ox.ac.uk/~gk/PTAM/). The architect is redesigned a bit in order to overcome monolithic issue of original PTAM. For instance, UI code is completely separated from core slam code.

1. TooN: included in ~/root/external/TooN
2. CVD library: included in ~/root/external/libcvd
3. GVars3: included in ~/root/external/gvars-3.0

4. OpenCV : for apps/slam and apps/calibration to catpure video
5. GLUT : for apps with OpenGL need
6. GLEW: for windows only
7. CMake: for compilation

• more cleanup, c++11 code (modern c++).
• Map IO.
• better recovery (features based).

contact: william dot mccohen at gmail dot com