RPBA
Robust Parallel Bundle Adjustment
For compilation use CMake
RPBA is controled via the file "parameters"
- Robust: 1 means that robust estimation is used
- Exteval: 1 means that back projection error is computed, but no adjustment
- Threads: Number threads - 0 means physically available number
- k2: 1 means that second order radial distortion is estimated
- k4: 1 means that fourth order radial distortion is estimated
- f: 1 means that focale length / camera constant is estimated
- k24out: 1 means that the output of PBA can be read
- InputDir: Name of input directory
- File: File name with format
RPBA uses the data format defined in the project "Bundle Adjustment in the Large"
https://grail.cs.washington.edu/projects/bal/
and has been particularly tested with
- problem-961-187103-pre.txt
and the largest blocks
- problem-3068-310854-pre.txt
- problem-4585-1324582-pre.txt
- problem-13682-4456117-pre.txt
in https://grail.cs.washington.edu/projects/bal/final.html
http://arxiv.org/abs/1910.08138
Please cite@misc{mayer:19,
title = {RPBA -- Robust Parallel Bundle Adjustment Based on Covariance Information},
author = {Helmut Mayer},
year = {2019},
eprint = {1910.08138},
archivePrefix = {arXiv},
primaryClass = {cs.CV}
}
Copyright 2019 Helmut Mayer, Bundeswehr University Munich, Germany, [email protected]
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