The README.txt file shipped with the newest PTAM source code is really old (the cvs repositorys are gone for god’s sake) ! I struggled to get it done on my Linux Mint 15 with totally failure:–(
However I made it with just pulling the bleeding edge libs(I mean TooN,libCVD and Gvars3) from github, add a header file
Tracker.cc, edit the
Makefile about the linker flags(I will tell the details below), and I absolutely think that ‘share my experience to you’ is my duty.
I succeeded on Linux Mint 15 and Ubuntu 12.04, other distros won’t be hard either:–)
Now, let’s start the journey!
Installation the required dependencies
Note the versions of the installed packages may differ from distros and versions of the same distro, just choose the ones suitable for you!
sudo apt-get update sudo apt-get install build-essential cmake pkg-config
Boost for C++
sudo apt-get install libboost-dev libboost-doc
Low level libraries for Linear Algebra
sudo apt-get install liblapack-dev libblas-dev
Image I/O && Camera Driver
sudo apt-get install libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libv4l-dev
Video I/O && Codec && Display
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
sudo apt-get install mesa-common-dev libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev
Installation of OpenCV
cd thePathYouWant wget http://downloads.sourceforge.net/project/opencvlibrary/opencv-unix/22.214.171.124/opencv-126.96.36.199.tar.gz tar zxvf opencv-188.8.131.52.tar.gz cd opencv-184.108.40.206/ mkdir release cd release cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. make sudo make install
You may want to alert the system about the new installed OpenCV libs,
vi /etc/ld.so.conf add `include /usr/local/lib` sudo ldconfig
Do this if you mannualy install other libraries when running into problems(as libcvd and Gvars3 discussed below).
After this, OpenCV dependencies can now be linked with simply:
pkg-config opencv --cflags --libs
Really cool, huh?
Installation of TooN && libCVD && Gvars3
You may want to get the source code by just pulling from github like this:
#!/bin/bash echo " Now pulling TooN..." git clone git://github.com/edrosten/TooN.git echo " TooN done for good!" echo " Now pulling libcvd..." git clone git://github.com/edrosten/libcvd.git echo " libcvd done for good!" echo " Now pulling gvars3..." git clone git://github.com/edrosten/gvars.git echo " gvars3 done for good!" echo " All done."
If this confuses you, just download the package like this:
cd thePathYouWant wget http://www.edwardrosten.com/cvd/TooN-2.1.tar.gz wget http://www.edwardrosten.com/cvd/libcvd-20121025.tar.gz wget http://www.edwardrosten.com/cvd/gvars-3.0.tar.gz
Note the versions may differ as time goes by, use git if you can Or just look at this link for more details.
Also remember do refer to the README files when you try to install the libraries, cause they really do help in some manner:–)
Just header files, easy to install huh?
./configure && make && sudo make install
Remember that libCVD really needs TooN, or you will get stuck when trying to compile PTAM:–(
The steps I used is like this:
./configure --without-ffmpeg --without-v4l1buffer --without-dc1394v1 --without-dc1394v2 make sudo make install
If you run into problems, check the output of
./configure carefully, they will give you some hints:–)
This is also easy, like this:
./configure --disable-widgets make make install
Make the libs work
Compilation of PTAM
Now comes the real part of our journey, refer to the README.txt file for details.
Copy the appropriate platform build files
cd PTAM cp Build/Linux/* .
Edit the Makefile to reference custom include or linker paths
LINKFLAGS = -L /usr/local/lib -lGvars3 -lcvd -lGLU -lGL -llapack
/usr/local/lib is my custom linker path.
Make the Video Source right
The first two are for camera capturing and the last twos are shipped with BeLioN-github/PTAM and can be used to serve images from video files.
Probably an error will popup, like “error,
usleep was not declared in this scope”, easily add
Tracker.cc and you are done:–)
Definitely special thanks will go to Georg Klein, the author and PTAM! Good job, Georg!
I also refered to several posts while struggling,
- TooN: Tom’s Object-oriented numerics library
- OpenCV Tutorials-Installation in Linux
Hope this post will do some help and if you find any mistake in my blog, please do leave your comment or drop me a line:–)