Some remarks:

- This software is provided under the terms of the GNU Lesser General Public License (LGPL) version 3.
- The current version is 1.1 (December 12th, 2011).

Some remarks:

- This software is provided under the terms of the GNU Lesser General Public License.
- It uses parts of the SuiteSparse matrix library, in particular the LDL factorization and the COLAMD column reordering. The required parts of SuiteSparse are available under the LGPL as well. Users of the major Linux distribution should have these already installed.
- We have successfully run this code on datasets with more than 1700 images. The optimization finished in less than 20 minutes on a 2.2 GHz Core 2 processor (about 15sec per iteration).
- The current version is 3.0 (December 12th, 2011).

News for SSBA-3.0:

- Added a sparse LM implementation (struct NLSQ_LM_Optimizer and friends) for non-bipartite problems. This can be e.g. useful when 3D lines are added to the sparse reconstruction, or when (soft) constraints between unknowns or priors for latent variables need to be incorporated. Several least-squares terms in the cost functions are also allowed.

News for SSBA-2.0:

- Added a sparse LM implementation (struct ExtSparseLevenbergOptimizer) handling several least-squares terms in the cost function. This is useful when several types of measurements (e.g. image feature locations and GPS positions) are available. See Apps/bundle_ext_LM.cpp for a simple demo.
- Changed the default update rule for the damping parameter lambda to a simpler one (multiply and divide lambda by 10, depending on the cost function improvement). This seems to work better that the more complicated rule used before.
- Fixed a trivial, but important bug in cost evaluation after the parameter update.

A few notes:

- This software is provided under the terms of the GNU Lesser General Public License.
- Right now, only NVidia GPUs (Geforce 6 or better) are supported. In theory it should be possible to make the tracker work for ATI cards. At some points the GPU tracker uses pack/unpack instructions to save memory bandwidth, which are currently only available on NVidia GPUs.
- The precompiled version of OpenCV in the Ubuntu repositories does not provide support for video codecs. You will get weird framebuffer incomplete errors if the codec is not supported (since the frame width and height is zero). Please compile OpenCV from the sources (which should be quite simple, at least on a Linux box).
- The current version is 1.0 for GPU-KLT+FLOW (as of Jan. 10th, 2010).
- Fixed a small bug in the non-maximum suppression step (thanks to Markus Moll for the bug report and fix).
- Fixed a problem with OpenGL 3.x drivers; automatically generated mipmaps do not work with uninitialized pixel data anymore.