PTAM on GitHub

The PTAM (Parallel Tracking and Mapping) source code has been rereleased under the GPL licence for non commercial use. It is available on GitHub here. Go ahead and fork it.

Currently only the original source code is available. The build scripts have been removed as they had succumbed to bit rot. They will be added back in over time as I get around to redoing them or receive patches and pull requests with them.

If you have any changes you would like to submit, please send a patch or a pull request. If the change is small or a bug fix I will probably merge it straight away. If it is something larger I will add it as a branch for testing. Approved branches will get merged at a later date.

If you require a commercial licence, one can be obtained from Isis Innovation. Please contact Roy Azolay for more information.

How to get PTAM and PTAMM running on OSX 10.6 (and probably 10.7)

The build instructions in PTAMM for OSX are now out of date if you are using the latest OSX 10.6 and above. I shall update the manual shortly, but until then follow this guide to get PTAM and PTAMM up and running on OSX.

Status of PTAM and PTAMM on OSX

PTAM and PTAMM used to build easily on OS X, however as the OS has been updated it now appears that they do not build.

The trick of forcing the compilation to 32-bit only does not appear to work at the moment, and the included configure-10.5-32bit file in PTAMM needs modification to work as the 10.5 SDK appears to be missing in later builds. For example I have 10.6.8 and only have the 10.6 SDK now.

I shall be looking at this issue over the next few weeks and hope to find a reliable solution to getting PTAM and PTAMM building more smoothly.

PTAMM now available for Mac OS X

Version 1.3 of the PTAMM source code released, adding Apple Mac OS X support.  Download here.

The included manual has a step-by-step install guide for getting PTAMM running under Mac OSX 10.6 (Snow Leopard).

Pre-cooked linux image

Yoshinari Kameda has made available some patches to get PTAM running on Ubuntu, as well as a downloadable Linux image which should include everything needed to run PTAM. More information in his comment on the video sources page.

GStreamer video source

James Y. Wilson has sent along a video source which uses GStreamer on Linux to read video files. Find this on the video inputs page.

PTAMM now available for Windows

Version 1.2 of the PTAMM source code released, adding MS Windows support. Download here.

The included manual has a step-by-step install guide for getting PTAM and PTAMM running under Windows.

Win32 video inputs for directshow and point grey

Added two video inputs useful on Win32 to the video inputs page. In particular, PTAM can use arbitrary webcams with directshow drivers using the videoInput library.

Video inputs page

Added a page to collect code for various video input methods people have used.

New blog

News/updates on PTAM will now appear here rather than on the robots.ox.ac.uk page. Hopefully this will lead to more regular updates. Meanwhile I’ve put up a page with links to other people who’ve managed to integrate PTAM into their projects.