Namespaces | Macros | Typedefs | Functions
sba_file_io.h File Reference
#include <Eigen/Eigen>
#include <vector>
#include <iostream>
#include <fstream>
#include <iomanip>
#include "sparse_bundle_adjustment/sba.h"
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Namespaces

 Eigen
 
 sba
 

Macros

#define EIGEN_USE_NEW_STDVECTOR
 

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. More...
 
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. More...
 
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. More...
 
int sba::readBundlerFile (const char *filename, sba::SysSBA &sbaout)
 Reads bundle adjustment data from a Bundler file to an instance of SysSBA. More...
 
int sba::readGraphFile (const char *filename, sba::SysSBA &sbaout)
 Reads bundle adjustment data from a graph-type file to an instance of SysSBA. More...
 
int sba::readSPAGraphFile (const char *filename, SysSPA &spaout)
 Reads 3D pose graph data from a graph-type file to an instance of SysSPA. More...
 
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. More...
 
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. More...
 
void sba::writeLourakisFile (const char *fname, SysSBA &sba)
 write out system in SBA form More...
 
void sba::writeSparseA (const char *fname, SysSBA &sba)
 

Macro Definition Documentation

◆ EIGEN_USE_NEW_STDVECTOR

#define EIGEN_USE_NEW_STDVECTOR

Definition at line 5 of file sba_file_io.h.



sparse_bundle_adjustment
Author(s):
autogenerated on Wed Mar 2 2022 01:03:04