read_spa.h
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00034 
00035 // convert a file in Freiburg's VERTEX / EDGE format into a set of constraints
00036 
00037 #ifndef SBA_READ_SPA_H
00038 #define SBA_READ_SPA_H
00039 
00040 #ifndef EIGEN_USE_NEW_STDVECTOR
00041 #define EIGEN_USE_NEW_STDVECTOR
00042 #endif // EIGEN_USE_NEW_STDVECTOR
00043 
00044 #define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(10)
00045 #include <Eigen/Eigen>
00046 #include <vector>
00047 
00048 struct tinfo
00049 {
00050   int pn;                       // index of point
00051   int fn0, fn1;                 // index of frames
00052   int fpn0, fpn1;               // local point index in frame
00053   double x0,y0,z0,u0,v0;        // local XYZ coords and projection
00054   double x1,y1,z1,u1,v1;        // local XYZ coords and projection
00055 };
00056 
00057 int 
00058 ReadSPAFile(char *fin,          // input file
00059             // node translation
00060             std::vector< Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > &ntrans,
00061             // node rotation
00062             std::vector< Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> > &nqrot,
00063             // constraint indices
00064             std::vector< Eigen::Vector2i, Eigen::aligned_allocator<Eigen::Vector2i> > &cind,
00065             // constraint local translation 
00066             std::vector< Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > &ctrans,
00067             // constraint local rotation as quaternion
00068             std::vector< Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> > &cqrot,
00069             // constraint covariance
00070             std::vector< Eigen::Matrix<double,6,6>, Eigen::aligned_allocator<Eigen::Matrix<double,6,6> > > &cvar,
00071             // track info: point projections, see format description in IntelSeattle files
00072             std::vector<struct tinfo> &tracks
00073   );
00074 
00075 int 
00076 ReadSPA2dFile(char *fin,          // input file
00077             // node translation
00078             std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > &ntrans,
00079             // node rotation
00080             std::vector< double > &nqrot,
00081             // constraint indices
00082             std::vector< Eigen::Vector2i, Eigen::aligned_allocator<Eigen::Vector2i> > &cind,
00083             // constraint local translation 
00084             std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > &ctrans,
00085             // constraint local rotation as quaternion
00086             std::vector< double > &cqrot,
00087             // constraint covariance
00088             std::vector< Eigen::Matrix<double,3,3>, Eigen::aligned_allocator<Eigen::Matrix<double,3,3> > > &cvar,
00089             // scan points
00090             std::vector< std::vector< Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > > &scans
00091   );
00092 
00093 #endif


sba
Author(s): Kurt Konolige, Helen Oleynikova
autogenerated on Thu Jan 2 2014 12:12:09