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+==================== GENERAL ====================
+This directory contains utilities related to sba.
+
+==================== FILES ====================
+hess2eps.c: C source of a function for visualizing the sparseness pattern
+ of JtJ in EPS format.
+SBAio.pm: Perl module with functions for loading a 3D reconstruction.
+ The format of datafiles is that explained in ../demo/README.txt
+reprerr.pl: Perl script for computing the reprojection error corresponding
+ to a 3D reconstruction
+quats.pl: Perl utility functions for quaternions
+
+==================== SAMPLE RUNS ====================
+Consult http://www.ics.forth.gr/~lourakis/sba/bt_pattern.pdf
+for sample output generated with sba_hessian2eps() for Oxford's
+corridor sequence.
+
+
+The command
+ ./reprerr.pl -e ../demo/7cams.txt ../demo/7pts.txt ../demo/calib.txt
+produces the following output:
+
+Read 7 cameras
+Read 465 3D points & trajectories
+Mean error for camera 0 [207 projections] is 0.420131
+Mean error for camera 1 [244 projections] is 0.46823
+Mean error for camera 2 [302 projections] is 0.727632
+Mean error for camera 3 [352 projections] is 1.04241
+Mean error for camera 4 [351 projections] is 1.14576
+Mean error for camera 5 [274 projections] is 1.68392
+Mean error for camera 6 [186 projections] is 12.4378
+
+Mean error for the whole sequence [1916 projections] is 2.06935
+
+
+
+Send your comments/questions to lourakis@ics.forth.gr