文件列表:

pedagogical_bundle\angle_axis_to_exp_map.m (904, 2009-02-13)
pedagogical_bundle\angle_axis_to_quaternion.m (994, 2010-11-25)
pedagogical_bundle\calc_jac_proj2eucl.m (1165, 2009-02-13)
pedagogical_bundle\calc_sub_jacobian_proj.m (1081, 2009-02-13)
pedagogical_bundle\err_calib_f.m (1167, 2009-02-13)
pedagogical_bundle\err_mot.m (1220, 2009-02-13)
pedagogical_bundle\err_mot_str.m (1448, 2009-02-13)
pedagogical_bundle\err_mot_str_calib_f.m (1671, 2009-02-13)
pedagogical_bundle\err_proj_mot.m (1310, 2009-02-13)
pedagogical_bundle\err_proj_mot_str.m (1546, 2009-02-13)
pedagogical_bundle\err_str.m (1248, 2009-02-13)
pedagogical_bundle\eucl_bundle_demo.m (1355, 2009-02-13)
pedagogical_bundle\exp_map_to_quat.m (960, 2009-02-13)
pedagogical_bundle\findeucl.m (1494, 2009-02-13)
pedagogical_bundle\gen_mot10.m (2041, 2009-02-13)
pedagogical_bundle\gen_mot11.m (1938, 2009-02-13)
pedagogical_bundle\jac_calib_f.m (1536, 2009-02-13)
pedagogical_bundle\jac_mot.m (1545, 2009-02-13)
pedagogical_bundle\jac_mot_str.m (1304, 2009-02-13)
pedagogical_bundle\jac_mot_str_calib_f.m (1613, 2009-02-13)
pedagogical_bundle\jac_num.m (1075, 2009-02-13)
pedagogical_bundle\jac_proj_mot.m (1542, 2009-02-13)
pedagogical_bundle\jac_proj_mot_str.m (1402, 2009-02-13)
pedagogical_bundle\jac_proj_str.m (1688, 2009-02-13)
pedagogical_bundle\jac_str.m (1676, 2009-02-13)
pedagogical_bundle\mot_to_proj_mat.m (989, 2009-02-13)
pedagogical_bundle\mot_to_vec_eucl.m (946, 2009-02-13)
pedagogical_bundle\optimise_fun.m (2520, 2009-02-13)
pedagogical_bundle\optimise_fun_proj.m (1579, 2009-02-13)
pedagogical_bundle\pflat.m (835, 2009-02-13)
pedagogical_bundle\proj_bundle_demo.m (3409, 2003-08-25)
pedagogical_bundle\quaternion_to_rmat.m (1188, 2009-02-13)
pedagogical_bundle\rq.m (1057, 2009-02-13)
pedagogical_bundle\skew_mat.m (839, 2009-02-13)
pedagogical_bundle\str_to_vec.m (157, 2009-02-18)
pedagogical_bundle\update_eucl_calib_mot_str.m (1908, 2009-02-13)
pedagogical_bundle\update_eucl_mot.m (1538, 2009-02-13)
pedagogical_bundle\update_eucl_mot_str.m (1821, 2009-02-13)
pedagogical_bundle\upper_triang_ones.m (823, 2009-02-13)
... ...

The purpose of the included code is to provide a working example of bundle adjustment, the non-linear minimization of the reprojection error used in structure-from-motion. Examples of both projective and Euclidian bundle adjustments are provided. The minimisation is done on synthetic data. Suggested starting points are the files proj_bundle_demo.m and eucl_bundle_demo.m

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