PTAM on iPhone (AR)

I want to implement PTAM(Pa开发者_运维技巧rallel 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?

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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/

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Hopefully, checkout this repo iPTAM on Github.

Though the repo is kind of outdated for now, it's a good starting point, the author basically ported the main part of PTAM to iOS.