Hideaki Uchiyama, Takafumi Taketomi, Sei Ikeda and Joao Paulo Silva do Monte Lima, "Abecedary Tracking and Mapping: a Toolkit for Tracking Competitions," Proceedings of the 14th IEEE International Symposium on Mixed and Augmented Reality, pp.xx-xx, 2015.

• OpenCV 3.0
• cvsba (if use bundle adjustment)
• LAPACK (if use bundle adjustment)

• CMake 2.8 (or other versions may be OK) from http://www.cmake.org/
• Visual Studio 2013 (or other IDEs may be OK)

• OpenCV 3.0 from http://opencv.org/
• Set dll path (e.g. opencv/build/x64/vc12/bin if use VS 2013 and 64 bit compiler) to environment variable (PATH)
• May need to uncheck all options for OpenCL (WITH_OPENCL, WITH_OPENCLAMDBLAS, WITH_OPENCLAMDFFT, WITH_OPENCL_SVM) on CMake and compile OpenCV by yourself if ATAM crashes (especially on Mac)
• cvsba (cvsba-1.0.0.tgz) from http://www.uco.es/investiga/grupos/ava/node/39
• UNIX users may need #include<limits> in utils/test_cvsba.cpp
• UNIX users can install CLAPACK as instructed on the web
• CLAPACK (clapack-3.2.1-CMAKE.tgz) from http://www.netlib.org/clapack/

• Set clapack-3.2.1-CMAKE to "Where is the source code"
• Set clapack-3.2.1-CMAKE/build to "Where to build the binaries"
• Press Configure and Generate
• Open clapack-3.2.1-CMAKE/build/CLAPACK.sln and compile it in Release mode

• Set ATAM to "Where is the source code"
• Set ATAM/build to "Where to build the binaries"
• Press Configure
• Set OpenCV_DIR to opencv/build/
• Press Configure
• Set LAPACK_LIB to clapack-3.2.1-CMAKE/build/SRC/Release/lapack.lib (not necessary if not check USE_BA)
• Set BLAS_LIB to clapack-3.2.1-CMAKE/build/BLAS/SRC/Release/blas.lib (not necessary if not check USE_BA)
• Set F2C_LIB to clapack-3.2.1-CMAKE/build/F2CLIBS/libf2c/Release/libf2c.lib (not necessary if not check USE_BA)
• Press Configure and Generate

• Check SHOW_LOG if output log on console window
• Check USE_BA if use bundle adjustment (BA)
• Check USE_MULTITHREAD if use multi threads for BA
• Check USE_CHESSBOARD if use a chessboard for camera calibration, otherwise a dot pattern
• Check USE_PGR if use a point grey camera, otherwise use a camera with OpenCV
• Set PGR_INCLUDE_DIR to C:/Program Files/Point Grey Research/FlyCapture2/include (depends on where installed Flycapture)
• Set PGR_LIB to C:/Program Files/Point Grey Research/FlyCapture2/lib64/FlyCapture2.lib (depends on where installed Flycapture)

• Open ATAM/build/proj/CameraCapture/CameraCapture.sln, compile and run it
• May need to change mDeviceID to 1 or 2 at line 12 in Cam.cpp for a USB camera on laptop
• Press space to start saving video and press space again to stop saving, and press ESC to close
• Check ATAM/data/movie.avi

• Print opencv/sources/doc/pattern.png on a A4 paper (acircles_pattern.png if uncheck USE_CHESSBOARD)
• Need to change size in CCalibration::CCalibration() or call CCalibration::SetSize() if use different size
• Open ATAM/build/proj/CameraCalibration/CameraCalibration.sln, compile and run it
• Press space to capture images from different viewpoints several times, and press ESC to close
• Check ATAM/data/camera.xml

• Open ATAM/build/proj/ATAM/ATAM.sln and modify
• line 95 in cvsba.cpp as
  int nconstframes = imagePoints.size() > 2 ? 2 : 0; //mcon
• line 233 in cvsba.cpp as
  //throw cv::Exception(8888, "Error occured during Sba optimization", "Sba::run", __FILE__, __LINE__);
  return -1;
• line 636 in sba_levmar.c as
  //return SBA_ERROR;
• Compile and run it
  • Ignore warning in cvsba
• Press space to start, translate a camera and press space (initialization)
• Press space to capture a calibration board from different viewpoints at least twice (registration)

• Press n if new points not appear (manually add a new keyframe)
• Press n if relocalization not work (manually change view for relocalization)
• Press c to visualize next challenge point
• Press r to reset
• Press ESC to close

• Dot colors

• Blue: new points

• White: mapped points

• Red (small): projected mapped points

• Parameters

• MAXPTS: number of keypoints by ORB

• LEVEL: number of pyramid levels for ORB

• DESCDIST: maximum distance between two ORB descriptors for judging as a correct match (between 0 and 256)

• BASEANGLE: criterion for adding a new keyframe (degree)

• BAKEYFRAMES: number of keyframes for local bundle adjustment (more than 2)

• PROJERR: maximum reprojection error for inlier (pixel)

• MINPTS: minimum number of points for judging as stable tracking (not good if less than 20)

• PATCHSIZE: size of patch for KLT (pixel)

• MATCHKEYFRAME: minimum inlier ratio (inliers/matches) for keypoint matching in matching with keyframes (between 0 and 1)

• GOODINIT: minimum inlier ratio for initial triangulation (between 0 and 1)

• RELOCALHIST: number of last keyframes used for relocalization (more than 1)

• USEVIDEO: 1 if use video, otherwise 0 (use video saved with CameraCapture)

• VIDEONAME: file name for video

• CAMERANAME: file name for camera parameters

• ATAM/data/challenge.txt for challenging points is
  4
  1 0 1 10
  7 5 12 1
  11 53 34 5
  19 11 21 9
  as
  Number of challenge points
  ID1 X1 Y1 Z1
  ID2 X2 Y2 Z2
  ID3 X3 Y3 Z3
  ID4 X4 Y4 Z4

• Notes

• If initialization failed, translate more and press space again

• If tracking failed, move the camera to fit edges

• Once run and close ATAM, can modify parameters in ATAM/data/params.xml