Simple Tracking and Mapping - STAM

This is an open-source version of the code originally used for the level 3 of the ISMAR 2015 Off-site tracking competition. Our team "VoxarLabs" got first place in the level 3 of the competition (tracking and mapping).

Dependencies

• OpenCV 2.4.x
• LAPACK
• cvsba

Installing dependencies on OSX

• opencv 2.4.x
  • brew tap homebrew/science
  • brew install opencv
• f2c
  • brew install --HEAD homebrew/boneyard/f2c
• cvsba
  • Download, make and install csvba: https://www.uco.es/investiga/grupos/ava/node/39

Installing dependencies on Ubuntu

• opencv 2.4.x

  • Follow instructions at http://docs.opencv.org/2.4/doc/tutorials/introduction/linux_install/linux_install.html

• cvsba

  • Follow UNIX instructions at https://www.uco.es/investiga/grupos/ava/node/39

Building STAM Linux/OSX

git clone https://github.com/eaa3/STAM.git

cd STAM
   
mkdir build 

cmake ..

make -j 

Running STAM

Fetch competition data

cd data
source fetch_data.bash

Go to build directory

cd ../build

Run demo passing scenario number as argument

Example for scenario 1:

./demo_level3 1

License

MIT.