sba_file_io.h File Reference

#include <Eigen/Eigen>
#include <vector>
#include <iostream>
#include <fstream>
#include <iomanip>
#include "sba/sba.h"
#include <stdio.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/StdVector>
#include <algorithm>
#include <Eigen/Cholesky>
#include <sba/node.h>
#include <sba/proj.h>
#include <sba/csparse.h>
#include <bpcg/bpcg.h>

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Namespaces
namespace	Eigen
namespace	sba
Typedefs
typedef Matrix< double, 11, 1 >	Eigen::Vector11d
typedef Matrix< double, 5, 1 >	Eigen::Vector5d
Functions
int	sba::ParseBundlerFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camp, std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > &camR, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camt, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptp, std::vector< Eigen::Vector3i, Eigen::aligned_allocator< Eigen::Vector3i > > &ptc, std::vector< std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > > &ptt)
	A low-level parser for bundler files.
int	sba::ParseGraphFile (const char *fin, std::vector< Eigen::Vector5d, Eigen::aligned_allocator< Eigen::Vector5d > > &camps, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &camqs, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &camts, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ptps, std::vector< std::vector< Eigen::Vector11d, Eigen::aligned_allocator< Eigen::Vector11d > > > &ptts)
	A low-level parser for graph files.
int	sba::ParseSPAGraphFile (const char *fin, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ntrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &nqrot, std::vector< Eigen::Vector2i, Eigen::aligned_allocator< Eigen::Vector2i > > &cind, std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &ctrans, std::vector< Eigen::Vector4d, Eigen::aligned_allocator< Eigen::Vector4d > > &cqrot, std::vector< Eigen::Matrix< double, 6, 6 >, Eigen::aligned_allocator< Eigen::Matrix< double, 6, 6 > > > &cvar)
	A low-level parser for graph files.
int	sba::readBundlerFile (const char *filename, sba::SysSBA &sbaout)
	Reads bundle adjustment data from a Bundler file to an instance of SysSBA.
int	sba::readGraphFile (const char *filename, sba::SysSBA &sbaout)
	Reads bundle adjustment data from a graph-type file to an instance of SysSBA.
int	sba::readSPAGraphFile (const char *filename, SysSPA &spaout)
	Reads 3D pose graph data from a graph-type file to an instance of SysSPA.
void	sba::writeA (const char *fname, SysSBA &sba)
int	sba::writeBundlerFile (const char *filename, sba::SysSBA &sbain)
	Writes bundle adjustment data from an instance of SysSBA to a Bundler file.
int	sba::writeGraphFile (const char *filename, SysSBA &sba, bool mono=false)
	Writes out the current SBA system as an ascii graph file suitable to be read in by the Freiburg HChol system. <mono> is true if only monocular projections are desired.
void	sba::writeLourakisFile (const char *fname, SysSBA &sba)
	write out system in SBA form
void	sba::writeSparseA (const char *fname, SysSBA &sba)