Some miscellaneous notes, codes, HOW-TOs, links, etc that I wrote or have found useful (your mileage may vary).


Gauss Newton algorithm
Nearest Neighbour search using CUDA
KD-tree using CUDA
Robust Planar Pose estimation (for augmented reality)
Simple Pano Stitcher
CUDA RANSAC Homography
Loopy belief propagation, Markov Random Field, stereo vision
GLUT FPS control

Maths stuff

Intersection of camera ray and 3D plane – useful for projecting a 2D pixel into 3D space
Finding all paths in a Directed Acyclic Graph (DAG)
Finding optimal rotation and translation between corresponding 3D points
Decomposing and composing a 3×3 rotation matrix
Principal Component Analysis (PCA) for data visualisation
Five point essential matrix estimation

Useful links

Computer vision Photogrammetry forum dealing with the latest research software Latestc omputer vision news, job posts, help forum, this place has it all

Numerical optimization

lmfit – C/C++ library for Levenberg-Marquard (public domain)
NLopt – open-source library for nonlinear optimization (includes methods that don’t use gradients)
GLPK (GNU Linear Programming Kit) – another free popular optimization library
OPT++ – object oriented Nonlinear optimization library


Paul Bourke – one of the best (if not THE best) website for fundamental 2D and 3D geometry maths, even includes source code


dlib C++ – general purpose library, image processing, optimization, machine learning …
ANN library – fast approximate nearest neighbor library

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