willdzeng / cvsba Goto Github PK

Hi, and thanks for making this code available. I am trying to do bundle adjustment using fiducial markers found in two frames. I have couple of questions if you have a minute.

I have the marker corners as 3d points.

1 - Should my data into cvsba look like:

A- Marker corner positions in marker-space(distance from camera) and camera pose around zero.
B- Marker corner positions in camera-space(around the zero point) and camera pose at distance from marker?
C- somehow chain the markers together into world-space, along with the camera poses.(this is the result i want to get AFTER ba, do I need to do a rough version first?

2 - Is there a way to specify where I want the zero point of the resulting map to be?

Thanks again.

What I want to do is precisely map the fiducial markers in world space, using one of them as the zero point.

When I typed "cmake .." and "make", errors occurred as follows:
[ 58%] Linking CXX shared library libcvsba.so
/usr/bin/ld: /usr/local/lib/liblapack.a(dgeqrf.f.o): relocation R_X86_64_32 against `.rodata' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/liblapack.a: error adding symbols: Bad value
collect2: error: ld returned 1 exit status
src/CMakeFiles/cvsba.dir/build.make:217: recipe for target 'src/libcvsba.so' failed
make[2]: *** [src/libcvsba.so] Error 1
CMakeFiles/Makefile2:124: recipe for target 'src/CMakeFiles/cvsba.dir/all' failed
make[1]: *** [src/CMakeFiles/cvsba.dir/all] Error 2
Makefile:151: recipe for target 'all' failed
make: *** [all] Error 2
I saw many solutions on the Internet, but they didn't work! Please give me some suggestions!Thanks very much!

Since F2C, F77, i77, BLAS, LAPACK are a bit tricky on windows it would be great to have a binary build of the library.

I presume there must be one out there (since there's a windows build of marker mapper)

would be great to have this!