ethzasl_ptam doesn't start [closed]

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Hi,

I've tried to install ethzasl_ptam stack but I got an error during installation

[rosmake-0] Finished <<< ptam [FAIL] [ 287.75 seconds ]
[ rosmake ] Halting due to failure in package ptam. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 58 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/claudios/.ros/rosmake/rosmake_output-20130515-172417

while checking the log file I find that problem: /usr/bin/ld: cannot find -lGL collect2: ld returned 1 exit status make[4]: [../bin/ptam] Error 1 make[4]: Leaving directory /home/claudios/ros_workspace/ethzasl_ptam/ptam/build' make[3]: [CMakeFiles/ptam.dir/all] Error 2 make[3]: Leaving directory /home/claudios/ros_workspace/ethzasl_ptam/ptam/build' make[2]: [all] Error 2 make[2]: Leaving directory /home/claudios/ros_workspace/ethzasl_ptam/ptam/build' make[1]: [all] Error 2 make[1]: Leaving directory /home/claudios/ros_workspace/ethzasl_ptam/ptam' make: [all] Error 2

where -lGl is an OpenGl library for Nvidia graphic card.

When I try to run ptam I receive that message: ERROR: cannot launch node of type [ptam/ptam]: can't locate node [ptam] in package [ptam]

even if I use correctly my firewire camera as a node(image/camera_raw) as setted in launch file:

<launch> <node name="ptam" pkg="ptam" type="ptam" clear_params="true" output="screen"> <remap from="image" to="$(optenv IMAGE /camera/image_raw)"/> <remap from="pose" to="pose"/> <rosparam file="$(find ptam)/PtamFixParams.yaml"/> </node> </launch>

I even try to use the dataset provided by the author but I don't know how to use that. My questions are: 1) does ptam no work due to the lack of the OpenGl library for Nvidia? 2) How can I run *.bag file on ptam?

My settings are Ubuntu 12.04, ROS Groovy installed, Ati graphic video card