sparse_bundle_adjustment: sba_setup.h Source File

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00034 
00035 //
00036 // Functions defined in various test setup files
00037 //
00038 
00039 #ifndef _SBA_SETUP_H_
00040 #define _SBA_SETUP_H_
00041 
00042 #include "sparse_bundle_adjustment/sba.h"
00043 #include "sparse_bundle_adjustment/spa2d.h"
00044 using namespace Eigen;
00045 using namespace sba;
00046 using namespace frame_common;
00047 
00048 #include <iostream>
00049 #include <fstream>
00050 #include <vector>
00051 #include <sys/time.h>
00052 
00053 using namespace std;
00054 
00055 // elapsed time in microseconds
00056 long long utime();
00057 // set up spiral system
00058 void 
00059 spiral_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>,Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
00060              double s_near, double s_far,
00061              double ptsize, double kfang, double initang, double cycles, 
00062              double inoise, double pnoise, double qnoise);
00063 
00064 void
00065 sphere_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
00066              int ncams,         // number of cameras
00067              int ncpts,         // number of new pts per camera
00068              int nccs,          // number of camera connections per camera
00069              double inoise, double pnoise, double qnoise);
00070 
00071 
00072 void
00073 spa_spiral_setup(SysSPA &spa, bool use_cross_links,
00074                  vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
00075                  Matrix<double,6,6> prec, Matrix<double,6,6> vprec,
00076                  Matrix<double,6,6> a10prec, Matrix<double,6,6> a15prec,
00077                  double kfang, double initang, double cycles, 
00078                  double pnoise, double qnoise, double snoise, // measurement noise (m,deg), scale noise (percent)
00079                  double mpnoise, double mqnoise); // initial displacement (m,deg)
00080 
00081 
00082 void
00083 spa2d_spiral_setup(SysSPA2d &spa, 
00084                  vector<Matrix<double,3,1>, Eigen::aligned_allocator<Matrix<double,3,1> > > &cps,
00085                  Matrix<double,3,3> prec, Matrix<double,3,3> vprec,
00086                  Matrix<double,3,3> a10prec, Matrix<double,3,3> a15prec,
00087                  double kfang, double initang, double cycles, 
00088                  double pnoise, double qnoise, double snoise, double dpnoise, double dqnoise);
00089 
00090 
00091 #endif  // _VO_SETUP_H_