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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