PBA_ceres

How to run the code :

First , install boost filesystem:

sudo apt-get install libboost-dev libboost-filesystem-dev

Second, install ceres from weblink:

ceres solver from google

then, build the code:

mkdir build
cd ./build
cmake ..
make

To run the algorithm:

./PBACeres ../Teng/

The result record:

For PBA Ceres Version , when running on Yee's computer(i5, 16G) test with Teng dataset, the time consuming should be around 0.074392s, 9 iterations , Final cost should be 6.356632e-03. Initial cost is 5.516455e+01 . Calibration parameters should be:

calibration.K(0,0) = 525;
calibration.K(1,1) = 525;
calibration.K(2,2) = 1;
calibration.K(0,2) = 639.5;
calibration.K(1,2) = 479.5;

For Liang's dataset, when running on Yee's computer(i5, 16G), the time consuming should be around 6.5s, 37 iterations, Final Cost should be 1.482363e-02. Calibration parameters should be:

calibration.K(0,0) = 923.5295;
calibration.K(1,1) = 922.2418;
calibration.K(2,2) = 1;
calibration.K(0,2) = 507.2222;
calibration.K(1,2) = 383.5822;