BA_exercise

前言

本仓库forked from BA_exercise，感谢我们3D视觉从入门到精通星球嘉宾鹏辉的分享与整理。

本demo对应的理论部分，见Bundle Adjustment原理及应用

正文

A exercise of BA, using g2o, ceres and eigen Before build the source, make sure that the third party library is installed rightly. 其中g2o版本是六哥的版本，感谢六哥。同时也感谢黄志明的大力支持和解惑，非常感谢。

ThirdParty

googlelog

g2o

ceres

Clone

git clone --recurse-submodules -j8 https://github.com/shanpenghui/BA_exercise

Usage

1.Build g2o

cd Thirdparty/g2o
mkdir build
cd build
cmake ..
make -j4

2.Build ceres

cd Thirdparty/ceres-solver
mkdir build
cd build
cmake ..
make -j4

3.Start BA_g2o

cd g2o
mkdir build
cd build
cmake ..
make -j4
./BA_g2o

4.Start BA_ceres

Before running BA_ceres, you can get used to using ceres by the examples offered in source folder named ceres

cd ceres
mkdir build
cd build
cmake ..
make -j4
./BA_ceres

5.Start BA_eigen

cd eigen
mkdir build
cd build
cmake ..
make -j4
./BA_eigen

输出

g2o

ceres

eigen

备注

当前版本是没有优化point pose的，即只优化位姿