PTAM-校正摄像机.pdfVIP

Parallel Tracking and Multiple Mapping (PTAMM) Manual Source Code Release v1.3 Robert Castle Copyright 2009 Isis Innovation Limited Robotics Research Group Department of Engineering Science University of Oxford November 2010 http://www.robots.ox.ac.uk/ActiveVision PTAMM Manual Source Code Release v1.3 1 Introduction This software is an implementation of the method described in the paper Video-rate Localiza- tion in Multiple Maps for Wearable Augmented Reality by Robert Castle, Georg Klein and David Murray, which appeared in the proceedings of the IEEE International Symposium on Wearable Computers (ISWC) 2008. This release is aimed at experienced software developers and/or researchers familiar with implementing real-time vision algorithms in C++ on the platform of their choice. PTAMM is based on the PTAM code (forked from r112) and it is recommended that you gain familiarity with PTAM before delving into PTAMM. Questions? Email ptam@robots.ox.ac.uk or visit the blog at http://ewokrampage. . 2 PTAMM’s Enhancements Over PTAM PTAMM provides the following enhancements: • Multiple maps with automatic switching • Saving and loading to and from disk • Video Output • New game architecture to add your own games. • Two new games 3 Requirements 3.1 Supported Operating Systems The code was developed on x86/x86-64 Linux, and it is the recommended OS for use with PTAMM. PTAMM will also compile and run under Mac OSX (using X11 for the display) and Microsoft Windows. Linux provides the best performance and experience, followed by OSX, once bent to your will. Windows will make you cry. 3.2 Processor Requirements The software runs at least two proc