ofxPTAMM

github.com/patriciogonzalezvivo/ofxPTAMM · @patriciogonzalezvivo

OF 0.7 Computer Vision

Parallel Tracking and Multiple Mapping (PTAMM by Robert Castle) wrapper for openFrameworks.

54 18 Last commit 14y ago Created 14y ago

Forks

Forks pushed to more recently than patriciogonzalezvivo/ofxPTAMM itself, plus any admin-confirmed fork with commits of its own — worth checking if you're hitting issues with the original.

icq4ever/ofxPTAMM by @icq4ever · ★ 0 · pushed 6y ago

liquidzym/ofxPTAMM by @liquidzym · ★ 0 · pushed 13y ago

README

ofxPTAMM#

This addon it´s based on @Akira_At_Asia ofxPTAM addon ( https://github.com/Akira-Hayasaka/ofxPTAM ). Insted of using PTAM developed by Georg Klein it use PTAMM by Robert Castle ( http://www.robots.ox.ac.uk/~bob/research/research_ptamm.html ) witch manage multiple maps and let you save/load them.

<iframe src="http://player.vimeo.com/video/36915621" width="640" height="480" frameborder="0" webkitAllowFullScreen mozallowfullscreen allowFullScreen></iframe>

Build your own addon libraries##

This addon it have been build and tested over MacOSX 10.6, MacOSX 10.7 and iOS 5. If you have another OS like Linux, or the provide one´s doesn´t work for you here it´s an explanation on how to build by your own.

First you need to be able to compile PTAMM sources. I had a detailed tutorial for MacOSX 10.6 and 10.7 at: http://www.patriciogonzalezvivo.com/blog/?p=547 . Doing some google research you probably found what you need´s to compile it on your OS

Once you know that you can compile and run it, let´s move the following PTAMM sources to the ``ofxPTAMM/include/PTAMM/` ( if you don´t have one, just make it).

 ATANCamera.cc
ATANCamera.h
Bundle.cc
Bundle.h
CalibCornerPatch.cc
CalibCornerPatch.h
HomographyIni.cc
HomographyIni.h
KeyFrame.cc
KeyFrame.h
LevelHelpers.h
LICENSE.txt
Map.cc
Map.h
MapLockManager.cc
MapLockManager.h
MapMaker.cc
MapMaker.h
MapPoint.cc
MapPoint.h
MapSerializer.cc
MapSerializar.h
MD5.cc
MD5.h
MD5Wrapper.cc
MD5Wrapper.h
MEstimator.h
MiniPatch.cc
MiniPatch.h
OpenGL.h
PatchFinder.cc
PatchFinder.h
Relocaliser.cc
Relocalizer.h
ShiTomasi.cc
ShiTomasi.h
SmallBlurryImage.cc
SmallBlurryImage.h
SmallMatrixOpts.h
tinyxml_license.txt
tinyxml.cc
tinyxml.h
tinyxmlerror.cc
tinyxmlparser.cc
Tracker.cc
Tracker.h
TrackerData.h
Utils.cc
Utils.h

After that you need to copy the requiered libraries inside it´s own `include` directory. Note: That gvars3 it´s changed from the original. I take out some GUI classes and add it some definition sources in order to make it smaller and portable to iOS. If you are going to use the compiled libraries. Just copy them from your local `include` directory and do the same with the compiled libraries from the `lib` directory. Probably you want to do some thing like this:

 <pre> cd ofxPTAMM cp -r /usr/local/include/cvd include/ cp -r /usr/local/include/gvars3 include/ cp -r /usr/local/include/TooN include/ cp -r /usr/local/lib/libcvd-0.8.dylib libs/osx/ cp -r /usr/local/lib/libGVars3-0.6.dylib libs/osx/ </pre>

Probably you want to delet soureces form other platforms like `ofxPTAMM/include/cvd/Build`, `ofxPTAMM/include/cvd/Linux` . Any way if you leave sources from other platforms and they are giving you a headache you coud use pre-compilers definitions to look the up. For example on `ofxPTAMM/include/cvd/Linux/capture_logic.cxx` you can put the code between:

c++ ifdef LINUX




    while(vd.pending())          // ... all the code          }



endif
 
I don´t know exactly way but sometimes it´s need to add 
#undef

` check on the begining of `ofxPTAMM/include/TooN/TooN.h`. So at the end will look something like this `

c++ ifdef check
 undef check
 endif




ifndef TOON_INCLUDE_TOON_H
 define TOON_INCLUDE_TOON_H
 include <iostream>
 // ... 
Change the path to 
gl.h

` and `glext.h` headers files on both `ofxPTAMM/include/PTAMM/OpenGL.h` and on `ofxPTAMM/include/cvd/gl_helpers.h` files in order to match with your OS specifications. `

c++ ifdef _LINUX
 include <GL/gl.h>
 include <GL/glext.h>
 endif




ifdef TARGET_OSX
 include <OpenGL/gl.h>
 include <OpenGL/glext.h>
 endif




ifdef TARGET_OPENGLES
 import <OpenGLES/ES1/gl.h>
 import <OpenGLES/ES1/glext.h>
 endif




ifdef WIN32
 define WIN32_LEAN_AND_MEAN
 include <GL/glew.h>
 endif
 
Replace all Point type calls for BPoint on 
ofxPTAM/include/Bundle.h

` and `

ofxPTAMM/include/Bundle.ccAdding ofxPTAMM addon to a oF project##

Add the includes on the libs directory at the Project.xcconfig
c++ //THE PATH TO THE ROOT OF OUR OF PATH RELATIVE TO THIS PROJECT. //THIS NEEDS TO BE DEFINED BEFORE CoreOF.xcconfig IS INCLUDED OF_PATH = ../../..



//THIS HAS ALL THE HEADER AND LIBS FOR OF CORE include "../../../libs/openFrameworksCompiled/project/osx/CoreOF.xcconfig"




OTHER_LDFLAGS = $(OF_CORE_LIBS) HEADER_SEARCH_PATHS = $(OF_CORE_HEADERS) $(OF_PATH)/addons/ofxPTAMM/libs/cvd/include $(OF_PATH)/addons/ofxPTAMM/libs/gvars3/include $(OF_PATH)/addons/ofxPTAMM/libs/PTAMM/include $(OF_PATH)/addons/ofxPTAMM/libs/TooN/include 
Add vecLib.framework. Here is how to add new frameworks http://meandmark.com/blog/2011/03/xcode-4-adding-a-framework-to-your-project/
Finaly you need to copy 
ofxPTAMM/include/camera.cfg

` to `bin/data`` directory. Needless to say that you need to calibrate your camera using PTAMM CameraCalibration. New ofxPTAMM versions have a camera-calibration class. After optimizing you need to manualy copy the results parameters to the camera.cfg

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