資源簡介
本壓縮包里是SBA 1.6(Sparse Bundle Adjustment)的VC2010版本
原下載地址是:http://www.ics.forth.gr/~lourakis/sba
本VC2010版本(sba.sln)是使用CMake,根據原下載源碼中CMakeLists.txt轉換而成,并刪除一些不必要的配置/文件后精簡而成.其中包含兩個項目,sba和eucsbademo,這兩個項目的編譯和鏈接選項也進行了簡化.
其中sba項目將生成sba.lib,是SBA核心算法的靜態庫.
ecusbademo項目將生成ecusbademo.exe,是SfM的演示程序.該項目用到兩個靜態庫,一個是上邊的sba.lib,一個是線性代數庫clapack.lib.
SBA(VC2010版)的目錄結構:
./sba SBA源碼 (含readme.txt)
./demo ecusbademo源碼 (含readme.txt)
./lib 靜態庫存放位置,包括clapack.lib和sba項目生成的sba.lib都放在這里
./documentation 相關論文和文檔(我搜集下載的)
./vc2010 VC2010的解決方案和項目配置文件(*.sln, *.vcxproj...)
使用方法:
使用VC2010直接打開sba.sln,全部編譯即可.
sba項目生成sba.lib,放入./lib目錄中.
ecusbademo生成ecusbademo.exe,放入./demo中
運行ecusbademo.exe(其參數格式參見./demo中的readme.txt)

代碼片段和文件信息
/*?Euclidean?bundle?adjustment?demo?using?the?sba?package?*/
#include?
#include?
#include?
#include?
#include?
#include?“../sba/sba.h“
#include?“../sba/compiler.h“
#include?“eucsbademo.h“
#include?“readparams.h“
#define?CLOCKS_PER_MSEC?(CLOCKS_PER_SEC/1000.0)
#define?MAXITER?????????100
#define?MAXITER2????????150
/*?pointers?to?additional?data?used?for?computed?image?projections?and?their?jacobians?*/
struct?globs_{
double?*rot0params;?/*?initial?rotation?parameters?combined?with?a?local?rotation?parameterization?*/
double?*intrcalib;?/*?the?5?intrinsic?calibration?parameters?in?the?order?[fu?u0?v0?ar?skew]
??????????????????????*?where?ar?is?the?aspect?ratio?fv/fu.
??????????????????????*?Used?only?when?calibration?is?fixed?for?all?cameras;
??????????????????????*?otherwise?it?is?null?and?the?intrinsic?parameters?are
??????????????????????*?included?in?the?set?of?motion?parameters?for?each?camera
??????????????????????*/
??int?nccalib;?/*?number?of?calibration?parameters?that?must?be?kept?constant.
????????????????*?0:?all?parameters?are?free?
????????????????*?1:?skew?is?fixed?to?its?initial?value?all?other?parameters?vary?(i.e.?fu?u0?v0?ar)?
????????????????*?2:?skew?and?aspect?ratio?are?fixed?to?their?initial?values?all?other?parameters?vary?(i.e.?fu?u0?v0)
????????????????*?3:?meaningless
????????????????*?4:?skew?aspect?ratio?and?principal?point?are?fixed?to?their?initial?values?only?the?focal?length?varies?(i.e.?fu)
????????????????*?5:?all?intrinsics?are?kept?fixed?to?their?initial?values
????????????????*?>5:?meaningless
????????????????*?Used?only?when?calibration?varies?among?cameras
????????????????*/
??int?ncdist;?/*?number?of?distortion?parameters?in?Bouguet‘s?model?that?must?be?kept?constant.
???????????????*?0:?all?parameters?are?free?
???????????????*?1:?6th?order?radial?distortion?term?(kc[4])?is?fixed
???????????????*?2:?6th?order?radial?distortion?and?one?of?the?tangential?distortion?terms?(kc[3])?are?fixed
???????????????*?3:?6th?order?radial?distortion?and?both?tangential?distortion?terms?(kc[3]?kc[2])?are?fixed?[i.e.?only?2nd?&?4th?order?radial?dist.]
???????????????*?4:?4th?&?6th?order?radial?distortion?terms?and?both?tangential?distortion?ones?are?fixed?[i.e.?only?2nd?order?radial?dist.]
???????????????*?5:?all?distortion?parameters?are?kept?fixed?to?their?initial?values
???????????????*?>5:?meaningless
???????????????*?Used?only?when?calibration?varies?among?cameras?and?distortion?is?to?be?estimated
???????????????*/
??int?cnp?pnp?mnp;?/*?dimensions?*/
double?*ptparams;?/*?needed?only?when?bundle?adjusting?for?camera?parameters?only?*/
double?*camparams;?/*?needed?only?when?bundle?adjusting?for?structure?parameters?only?*/
}?globs;
/*?unit?quaternion?from?vector?part?*/
#define?_MK_QUAT_FRM_VEC(q?v){?????????????????????????????????????\
??(q)[1]=(v)[0];?(q)[2]=(v)[1];?(q)[3]=(v)[2];??????????????????????\
??(q)[0]=sqrt(1.0?-?(q)[1]*(q)[1]?
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????3633??2004-09-30?16:33??sba-1.6\demo\54cams.txt
?????文件???????6001??2008-01-07?23:36??sba-1.6\demo\54camsvarK.txt
?????文件???????7091??2009-08-31?18:55??sba-1.6\demo\54camsvarKD.txt
?????文件?????776527??2004-09-30?16:33??sba-1.6\demo\54pts.txt
?????文件????????460??2004-09-08?22:25??sba-1.6\demo\7cams.txt
?????文件????????806??2008-01-07?23:33??sba-1.6\demo\7camsvarK.txt
?????文件??????60389??2004-09-08?22:25??sba-1.6\demo\7pts.txt
?????文件????????594??2004-09-08?22:25??sba-1.6\demo\9cams.txt
?????文件???????1026??2008-01-07?23:37??sba-1.6\demo\9camsvarK.txt
?????文件??????75483??2004-09-08?22:25??sba-1.6\demo\9pts.txt
?????文件?????????85??2004-09-08?22:25??sba-1.6\demo\calib.txt
?????文件??????66580??2015-02-11?22:55??sba-1.6\demo\eucsbademo.c
?????文件???????2227??2009-08-25?19:16??sba-1.6\demo\eucsbademo.h
?????文件??????55017??2009-05-07?20:27??sba-1.6\demo\imgproj.c
?????文件??????11542??2009-08-31?21:28??sba-1.6\demo\README.txt
?????文件??????19516??2009-08-31?18:36??sba-1.6\demo\readparams.c
?????文件???????1299??2009-08-31?18:36??sba-1.6\demo\readparams.h
?????目錄??????????0??2015-02-11?23:38??sba-1.6\demo
?????文件?????133320??2013-08-17?17:02??sba-1.6\documentation\heikkila97.pdf
?????文件?????529139??2013-12-26?12:24??sba-1.6\documentation\imm3215.pdf
?????文件?????529139??2013-08-14?14:58??sba-1.6\documentation\Madsen_lecture_notes.pdf
?????文件?????682719??2013-08-11?16:37??sba-1.6\documentation\PRCV_colloq.pdf
?????文件????1724730??2014-01-01?22:47??sba-1.6\documentation\sba-toms.pdf
?????文件????????296??2013-12-26?16:18??sba-1.6\documentation\文檔說明.txt
?????目錄??????????0??2015-02-11?23:30??sba-1.6\documentation
?????文件???16456182??2000-12-28?14:50??sba-1.6\lib\clapack.lib
?????目錄??????????0??2015-02-11?23:38??sba-1.6\lib
?????文件???????1702??2008-05-22?00:45??sba-1.6\sba\compiler.h
?????文件???????3164??2009-08-06?21:44??sba-1.6\sba\README.txt
?????文件???????7489??2009-08-20?20:22??sba-1.6\sba\sba.h
............此處省略22個文件信息
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