The code for Bundle adjustment with constraints
Installation:
Ceres
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.10.0
make -j3
make test
make install
Wrapper for ceres
git clone https://github.com/dineshreddy91/BA_with_semantic_constraints
cd BA_with_semantic_constraints
mkdir build
cd build
cmake ..
make
To run the algorithm we use matlab
The main file is box_synthetic.m