Thank you for downloading the Uncertainty framework.

Created by: Michal Polic

Requirements:

• Gflags, Eigen, Blas and Lapack, Ceres, Cuda, Magma dense

Optional:

• Glog, Matlab, AliceVision, SuiteSparse

Installation on Windows

This tutorial shows how to create the project in Visual Studio by Cmake. At first, you need to download the repository. You can use any GIT client for that. We recommend the GitExtensions which is simple and intuitive. 1) Install libraries dependencies:

• Download the precompiled libraries You can download the prebuild libraries for win64 at: 'cmp.felk.cvut.cz/~policmic/files/uncer_libs_win64.zip' and unpack it into the root project directory.
• Or install them through VCPKG
• Or build them manually 2) Generate the Visual Studio project and compile it 3) Try it by calling uncertatinty.exe -in=./in/01_Cube.jacob

Installation on Linux

1) Install Cmake 2) Install all the required libraries

sudo apt-get install cmake sudo apt-get install build-essential sudo apt-get install libboost-all-dev sudo apt-get install libeigen3-dev sudo apt-get install libsuitesparse-dev sudo apt-get install libfreeimage-dev sudo apt-get install libgoogle-glog-dev # may cause problems in MEX ( unresolved symbol _Unwind.. ) sudo apt-get install libgflags-dev sudo apt-get install libglew-dev sudo apt-get install qtbase5-dev sudo apt-get install libqt5opengl5-dev sudo apt-get install libatlas-base-dev sudo apt-get install libsuitesparse-dev git clone https://ceres-solver.googlesource.com/ceres-solver cd ceres-solver mkdir build cd build cmake .. sudo make install

Download and compile Magma (http://icl.cs.utk.edu/magma/software/index.html) Set up the root of the source code and the directory with compiled libraries. It is not necessary to install magma.

3) Generate the project (Makefiles) mkdir build cd build cmake .. 4) Try the framework by calling uncertainty -in=./Release/in/01_Cube.jacob

Output: The covariance matrices are symmetric. Therfore, our output is just the upper triangle of their covariance matrices. So, the camera which is in our model represented by 9 parameters has upper triangle composed of 45 values and the covariances of points are represented by 6 values: