version 1.6

By Manolis Lourakis

Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion, Crete, Greece

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+} }

• 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

• 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 [email protected]