PTAM on iPhone (AR)

Question

Hi,

I want to implement PTAM(Parallel Tracking and Mapping) system in iPhone.

like this: http://www.youtube.com/watch?v=pBI5HwitBX4

Does anyone know open-source project of PTAM or a sample code?

Answer 1

If you click the link in that YouTube video's description, there's a page with the source code for the demo. http://www.robots.ox.ac.uk/~gk/PTAM/

Answer 2

Hi Im working on the port. I have it compiled and it runs on the iphone but it is not working yet. The initial tracking works although it freezes and crashes when trying to calculate the initial map.

See my blog post here or the git repo here

EDIT: It no longer crashes and can track a map within the first keyframe but does not add keyframes. Help would be welcome