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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
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