sba 1.4 - A flexible C/C++ library for sparse bundle adjustment.
s...@freshmeat.net
by Manolis Lourakis (http://freshmeat.net/~lourakis/)
Fri, Jan 11th 2008 10:29
About:
sba is a generic sparse bundle adjustment C/C++ library based on the
Levenberg-Marquardt algorithm. Bundle adjustment is almost invariably used
as the last step of every feature-based multiple view reconstruction vision
algorithm to obtain optimal 3D structure and motion (i.e. camera matrix)
parameter estimates. Provided with initial estimates, BA simultaneously
refines motion and structure by minimizing the reprojection error between
the observed and predicted image points. sba is generic in the sense that
it grants the user full control over the definition of the parameters
describing cameras and 3D structure.
Changes:
This release improves memory management by reusing memory among certain
computations. This reduces the total required memory size, and reduces
total execution time by improving locality. A MATLAB MEX file, has been
added, allowing sba to be used directly from MATLAB with user-defined
projection and Jacobian functions. The included Euclidean bundle
adjustment demo program has been improved: the unit norm property for the
rotation quaternions is explicitly enforced, and the option of refining
the intrinsic camera parameters in addition to the camera motions has been
added.
Release focus: Major feature enhancements
License: GNU General Public License (GPL)
Project URL: http://freshmeat.net/projects/sba/
Homepage: http://freshmeat.net/redir/sba/72646/url_homepage/sba
Tar/GZ: http://freshmeat.net/redir/sba/72646/url_tgz/#Download
Changelog: http://freshmeat.net/redir/sba/72646/url_changelog/changelog.html
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s...@freshmeat.net
About:
sba is a generic sparse bundle adjustment C/C++ library based on the
Levenberg-Marquardt algorithm. Bundle adjustment is almost invariably used
as the last step of every feature-based multiple view reconstruction vision
algorithm to obtain optimal 3D structure and motion (i.e. camera matrix)
parameter estimates. Provided with initial estimates, BA simultaneously
refines motion and structure by minimizing the reprojection error between
the observed and predicted image points. sba is generic in the sense that
it grants the user full control over the definition of the parameters
describing cameras and 3D structure.
Changes:
Support was added for including the covariance matrices of the image
projections in the optimization. This feature provides the option of
weighting the reprojection errors with the inverses of the point
covariances. The memory requirements of sba_motstr_levmar_x() were reduced
further by using the same memory to store the matrices V* and V*-1. Any
working memory retained between invocations of the linear solvers is now
ensured to be released upon the termination of all sba routines.
Release focus: N/A
License: GNU General Public License (GPL)
Project URL: http://freshmeat.net/projects/sba/
Homepage: http://freshmeat.net/redir/sba/72646/url_homepage/sba
Tar/GZ: http://freshmeat.net/redir/sba/72646/url_tgz/#Download
Changelog: http://freshmeat.net/redir/sba/72646/url_changelog/changelog.html
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