sba Documentation

sba

Sparse bundle adjustment and Sparse pose adjustment.

Sparse Bundle Adjustment, or SBA, is used for reconstructing 3D structure and camera pose from a series of monocular or stereo images. The technique is usually used for refining existing estimates of 3D geometry and camera pose.

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In most cases, you will want to use the sba::SysSBA class to set up a system consisting of sba::Node and sba::Track.

Each sba::Node represents a camera pose and also contains camera projection matrices.

An sba::Track contains a single sba::Point and a map of sba::Proj, containing the projections of the point into each node in which it can be seen. The map is indexed by sba::Node index.



sba
Author(s): Kurt Konolige, Helen Oleynikova
autogenerated on Thu Jan 2 2014 12:12:09