[37] | 1 | ************************************************************** |
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| 2 | SBA |
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| 3 | version 1.3 |
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| 4 | By Manolis Lourakis |
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| 5 | |
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| 6 | Institute of Computer Science |
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| 7 | Foundation for Research and Technology - Hellas |
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| 8 | Heraklion, Crete, Greece |
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| 9 | ************************************************************** |
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| 10 | |
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| 11 | |
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| 12 | ==================== GENERAL ==================== |
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| 13 | This is sba, a copylefted C/C++ implementation of generic bundle adjustment |
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| 14 | based on the sparse Levenberg-Marquardt algorithm. sba can support a wide |
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| 15 | range of manifestations/parameterizations of the multiple view reconstruction |
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| 16 | problem such as arbitrary projective cameras, partially or fully intrinsically |
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| 17 | calibrated cameras, exterior orientation (i.e. pose) estimation from fixed 3D |
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| 18 | points, etc. sba can be downloaded from http://www.ics.forth.gr/~lourakis/sba |
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| 19 | |
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| 20 | sba relies on lapack for solving the augmented normal equations arising in the |
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| 21 | course of the Levenberg-Marquardt algorithm. if you don't already have lapack, |
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| 22 | I suggest getting clapack from http://www.netlib.org/clapack. |
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| 23 | Directory demo contains eucsbademo, a working example of using sba for Euclidean |
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| 24 | bundle adjustment. |
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| 25 | |
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| 26 | More details regarding sba can be found in ICS/FORTH Technical Report No. 340 |
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| 27 | entitled "The Design and Implementation of a Generic Sparse Bundle Adjustment |
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| 28 | Software Package Based on the Levenberg-Marquardt Algorithm", by M.I.A. Lourakis |
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| 29 | and A.A. Argyros (available from http://www.ics.forth.gr/~lourakis/sba) |
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| 30 | |
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| 31 | In case that you use sba in your published work, please include a reference to |
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| 32 | the above TR: |
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| 33 | |
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| 34 | @techreport{lourakis04, |
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| 35 | author={M.I.A. Lourakis and A.A. Argyros}, |
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| 36 | title={The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package |
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| 37 | Based on the Levenberg-Marquardt Algorithm} |
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| 38 | institution={Institute of Computer Science - FORTH}, |
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| 39 | address={Heraklion, Crete, Greece}, |
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| 40 | number={340}, |
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| 41 | year={2004}, |
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| 42 | month={Aug.}, |
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| 43 | note={Available from \verb+http://www.ics.forth.gr/~lourakis/sba+} |
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| 44 | } |
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| 45 | |
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| 46 | ==================== FILES ==================== |
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| 47 | sba_levmar.c: SBA expert driver routines |
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| 48 | sba_levmar_wrap.c: simple wrappers around the routines in sba_levmar.c |
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| 49 | sba_lapack.c: LAPACK-based linear system solvers (LU, QR, SVD, Cholesky, Bunch-Kaufman) |
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| 50 | sba_crsm.c: CRS sparse matrix manipulation routines |
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| 51 | sba_chkjac.c: routines for verifying the correctness of user-supplied jacobians |
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| 52 | sba.h: Function prototypes & related data structures |
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| 53 | demo/*: Euclidean BA demo; see demo/README.txt for more details |
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| 54 | utils/*: Various utilities; see utils/README.txt for more details |
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| 55 | |
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| 56 | ==================== COMPILING ==================== |
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| 57 | - On a Linux/Unix system, typing "make" will build both sba and the demo program. |
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| 58 | |
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| 59 | - Under Windows and if Visual C is installed & configured for command line use, |
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| 60 | type "nmake /f Makefile.vc" in a cmd window to build sba and the demo program. |
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| 61 | In case of trouble, read the comments on top of Makefile.vc |
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| 62 | |
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| 63 | |
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| 64 | Send your comments/bug reports to lourakis@ics.forth.gr |
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