Under ubuntu16.04, the notebook comes with a camera to compile and run PTAM
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PTAM is an open source algorithm for visual slam and has been applied to augmented reality. The code is completely open source and can be obtained from github: address
Author's 2008 article Parallel tracking and mapping for Small AR workspaces
It supports compiling and running on multiple systems. You can get some installation tutorials on other systems on the author's project homepage. The author's homepage: http://www.robots.ox.ac.uk/~gk/
I mainly try to compile and install ptam on ubuntu16.04.
specific installation process
A dependency library installation
1 Install the build tool
sudo apt-get update sudo apt-get install build-essential cmake pkg-config
2 Update the C++ library
sudo apt-get install libboost-dev libboost-doc
3 Install low-level libraries for linear algebra
sudo apt-get install liblapack-dev libblas-dev
4 Image IO and camera driver
sudo apt-get install libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libv4l-dev
5 video IO, codec and video display library
sudo apt-get install libavcodec-dev libavformat-dev libavutil-dev libpostproc-dev libswscale-dev libavdevice-dev libsdl-dev sudo apt-get install libgtk2.0-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev
6 OpenGL
sudo apt-get install mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-de
Two, we have to install three third-party libraries of ptam
TooN libcvd Gvars3 has dependencies, so it must be installed in order, and their version problems may also cause the installation to fail. Therefore, the following versions are recommended. I have verified that they can be compiled successfully, at https:/ /github.com/slowlythinking/PTAM (which also contains the source code of PTAM, but there are problems);
TooN library must be installed first
Get these three libraries from git
git clone https://github.com/slowlythinking/PTAM.git
Then delete the PTAM folder, there is a problem with the files in it, we have to recompile.
TooN：
cd ShowN sudo ./configure && make && sudo make install cd ../
libcvd:
cd libcvd sudo ./configure --without-ffmpeg --without-v4lbuffer --without-dc1394v1 --without-dc1394v2 sudo make sudo make install cd ../
Gvars3:
sudo git clone git : //github.com/edrosten/gvars.git cd gvars sudo ./configure --disable-widgets sudo make sudo make install
Finally, make the installed libs take effect
cd ../
sudo ldconfig
The installation of opencv can be installed by yourself according to the online tutorial.
Three compiled PTAM
Enter the previous PTAM directory and get the latest ptam source code from github
git clone https://github.com/Oxford-PTAM/PTAM-GPL.git ptam cd ptam git checkout feature/Linuxmint15 cd Src make
Successful compilation will get CameraCalibrator, PTAM two executable files, CameraCalibratorused to pre-calibrate the camera
Four-run PTAM
First you need to download a checkerboard image, perform camera calibration,
Go to the Src directory in the previous step, execute ./CameraCalibrator , and use the CapFrame in the upper right corner of the figure below to take frames, at least 4 frames from different angles. After taking the frames, press Optimize to calculate the camera essential matrix (focal length). and other camera parameters). Including the focal length f, the camera center cx, cy, and two distortion coefficients.
./CameraCalibrator
After the calibration is completed, the output gets a camera.cfg file, and then you can execute ./PTAM
After CameraCalibrator runs PTAM, the user needs to select two frames as the initialized data input due to the need to initialize the map at the beginning of the operation. The specific operation steps are to press the space bar, and the program will calculate the FAST corner of this frame and display it on the image. Then do a slight pan, press the space bar again, and the initialization is complete. At the top right of the interface are Draw AR off and View Map on, which are used to display virtual items (here, four eyes) on the plane and map information created by the software. The following is a screenshot of the operation
Reference tutorial:
https://blog.csdn.net/shhu1993/article/details/47783077
https://blog.csdn.net/jinghouxiang/article/details/46998235
http://blog.sina.com.cn/s/blog_7b83134b0102wabk.html