Sparse Bundle Adjustment in C/C++

Sparse Bundle Adjustment in C/C++
it can support virtually any manifestation/parameterization of the multiple view reconstruction problem such as arbitrary projective cameras, partially or fully intrinsically calibrated cameras, exterior orientation (i.e. pose) estimation from fixed 3D points, refinement of intrinsic parameters, etc. All the user has to do to adapt sba to any such problem is to supply it with appropriate routines for computing the estimated image projections and their Jacobian for the problem and parameterization at hand.