5_17

Bundle adjustment on BAL dataset

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How to build & run

Requirement: Ceres-solver

Local build

mkdir build && cd build
cmake ..
make -j
./bal_ceres --input=../bal_data.txt

Docker build

Requires base build

docker build . -t slam:5_17
docker run -it --env DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:5_17

# Inside docker container
cd fastcampus_slam_codes/5_17
./build/bal_ceres --input=./bal_data.txt

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Demo