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diff --git a/libmoped/libs/sba-1.6/README.txt b/libmoped/libs/sba-1.6/README.txt new file mode 100644 index 0000000..6744d79 --- /dev/null +++ b/libmoped/libs/sba-1.6/README.txt @@ -0,0 +1,65 @@ + ************************************************************** + SBA + version 1.6 + By Manolis Lourakis + + Institute of Computer Science + Foundation for Research and Technology - Hellas + Heraklion, Crete, Greece + ************************************************************** + + +==================== GENERAL ==================== +This is sba, a copylefted C/C++ implementation of generic bundle adjustment +based on the sparse Levenberg-Marquardt algorithm. sba can support a wide +range of manifestations/parameterizations of the multiple view reconstruction +problem such as arbitrary projective cameras, partially or fully intrinsically +calibrated cameras, exterior orientation (i.e. pose) estimation from fixed 3D +points, etc. sba can be downloaded from http://www.ics.forth.gr/~lourakis/sba + +sba relies on lapack for solving the augmented normal equations arising in the +course of the Levenberg-Marquardt algorithm. if you don't already have lapack, +I suggest getting clapack from http://www.netlib.org/clapack. +Directory demo contains eucsbademo, a working example of using sba for Euclidean +bundle adjustment. + +More details regarding sba can be found in ICS/FORTH Technical Report No. 340 +entitled "The Design and Implementation of a Generic Sparse Bundle Adjustment +Software Package Based on the Levenberg-Marquardt Algorithm", by M.I.A. Lourakis +and A.A. Argyros (available from http://www.ics.forth.gr/~lourakis/sba) + +In case that you use sba in your published work, please include a reference to +the above TR: + +@techreport{lourakis04, + author={M.I.A. Lourakis and A.A. Argyros}, + title={The Design and Implementation of a Generic Sparse Bundle Adjustment Software Package + Based on the Levenberg-Marquardt Algorithm} + institution={Institute of Computer Science - FORTH}, + address={Heraklion, Crete, Greece}, + number={340}, + year={2004}, + month={Aug.}, + note={Available from \verb+http://www.ics.forth.gr/~lourakis/sba+} +} + +==================== FILES ==================== +sba_levmar.c: SBA expert driver routines +sba_levmar_wrap.c: simple wrappers around the routines in sba_levmar.c +sba_lapack.c: LAPACK-based linear system solvers (LU, QR, SVD, Cholesky, Bunch-Kaufman) +sba_crsm.c: CRS sparse matrix manipulation routines +sba_chkjac.c: routines for verifying the correctness of user-supplied jacobians +sba.h: Function prototypes & related data structures +demo/*: Euclidean BA demo; see demo/README.txt for more details +matlab/*: sba MEX-file interface; see matlab/README.txt for more details +utils/*: Various utilities; see utils/README.txt for more details + +==================== COMPILING ==================== + - On a Linux/Unix system, typing "make" will build both sba and the demo program. + + - Under Windows and if Visual C is installed & configured for command line use, + type "nmake /f Makefile.vc" in a cmd window to build sba and the demo program. + In case of trouble, read the comments on top of Makefile.vc + + +Send your comments/bug reports to lourakis@ics.forth.gr |