Minimal Bundle Adjustment Example:
where red represents the ground truth and blue represents the initial camera poses and landmark points before and after bundle adjustment.
Example output on a Lenovo ThinkPad P15 Gen 1 with Intel Core i7:
Single precision mode:
Solving BA problem:
iter: [0] lambda: 1.00e-04 cost: 3.0443e+04 dcost: -1.02e+06 rms reproj error: 11.35
iter: [1] lambda: 1.00e-05 cost: 1.7417e+02 dcost: -3.03e+04 rms reproj error: 0.86
iter: [2] lambda: 1.00e-06 cost: 9.8439e-02 dcost: -1.74e+02 rms reproj error: 0.02
iter: [3] lambda: 1.00e-07 cost: 6.8691e-07 dcost: -9.84e-02 rms reproj error: 0.00
Done!
total time taken: 0.0239s
nb_frames: 20
nb_points: 25
Double precision mode:
Solving BA problem:
iter: [0] lambda: 1.00e-04 cost: 3.0441e+04 dcost: -1.02e+06 rms reproj error: 11.35
iter: [1] lambda: 1.00e-05 cost: 1.7375e+02 dcost: -3.03e+04 rms reproj error: 0.86
iter: [2] lambda: 1.00e-06 cost: 9.7500e-02 dcost: -1.74e+02 rms reproj error: 0.02
iter: [3] lambda: 1.00e-07 cost: 1.1059e-07 dcost: -9.75e-02 rms reproj error: 0.00
Done!
total time taken: 0.0322s
nb_frames: 20
nb_points: 25
An approximate ~34% speed up of single vs double precision.
LAPACKE (http://www.netlib.org/lapack/lapacke.html)
Eigen3 (http://eigen.tuxfamily.org/)
octave (https://www.gnu.org/software/octave/)
If youre in Ubuntu, you can obtain the dependencies via:
sudo apt-get install -qqq \
libblas-dev \
liblapack-dev \
liblapacke-dev \
libeigen3-dev \
octave
git clone https://github.com/chutsu/ba
cd ba
make deps
make ba
make run
make plot
Copyright (c) <2020> <Chris Choi>
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