OpenDTAM for Opencv 3.1

An open source implementation of DTAM

Based on Newcombe, Richard A., Steven J. Lovegrove, and Andrew J. Davison's "DTAM: Dense tracking and mapping in real-time."

This project depends on qtbase5-dev, OpenCV 3 and Cuda.

Build Instructions on Ubuntu 16.04

Tested in this environment

• Ubuntu 16.04 x64
• GCC 5.4.0
• Boost 1.5.8
• OpenCV 3.1
• Cuda Toolkit 7.5

Install dependencies

qtbase5-dev

sudo apt-add-repository ppa:ubuntu-sdk-team/ppa
sudo apt-get update
sudo apt-get install qtbase5-dev

boost

sudo apt-get install libboost-system-dev libboost-thread-dev

Cuda

Version 7.5 was used.

You can use the pre-built downloads from NVIDIA, or you can follow this guide:

Cuda Installation Tutorial

OpenCV 3

These lines were mostly stitched together from the caffee installation guide

# Execute first command from directory you would like to clone OpenCV
git clone https://github.com/opencv/opencv.git
cd opencv
# make sure to use version 3.1.0
git checkout tags/3.1.0
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON -DCUDA_NVCC_FLAGS="-D_FORCE_INLINES" ..
make -j4
sudo make install

Build OpenDTAM

cd OpenDTAM
mkdir build
cd build
cmake ../Cpp
make -j4

Run OpenDTAM

For the following command, replace $TRAJECTORY_30_SECONDS with the path to the directory of the same name.

./a.out $TRAJECTORY_30_SECONDS

Assuming you are executing this command from the build folder, as shown above, enter the following:

./a.out ../Trajectory_30_seconds