sba_setup.h
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34 
35 //
36 // Functions defined in various test setup files
37 //
38 
39 #ifndef _SBA_SETUP_H_
40 #define _SBA_SETUP_H_
41 
44 using namespace Eigen;
45 using namespace sba;
46 using namespace frame_common;
47 
48 #include <iostream>
49 #include <fstream>
50 #include <vector>
51 
52 using namespace std;
53 
54 // elapsed time in microseconds
55 long long utime();
56 // set up spiral system
57 void
58 spiral_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>,Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
59  double s_near, double s_far,
60  double ptsize, double kfang, double initang, double cycles,
61  double inoise, double pnoise, double qnoise);
62 
63 void
64 sphere_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
65  int ncams, // number of cameras
66  int ncpts, // number of new pts per camera
67  int nccs, // number of camera connections per camera
68  double inoise, double pnoise, double qnoise);
69 
70 
71 void
72 spa_spiral_setup(SysSPA &spa, bool use_cross_links,
73  vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
74  Matrix<double,6,6> prec, Matrix<double,6,6> vprec,
75  Matrix<double,6,6> a10prec, Matrix<double,6,6> a15prec,
76  double kfang, double initang, double cycles,
77  double pnoise, double qnoise, double snoise, // measurement noise (m,deg), scale noise (percent)
78  double mpnoise, double mqnoise); // initial displacement (m,deg)
79 
80 
81 void
83  vector<Matrix<double,3,1>, Eigen::aligned_allocator<Matrix<double,3,1> > > &cps,
84  Matrix<double,3,3> prec, Matrix<double,3,3> vprec,
85  Matrix<double,3,3> a10prec, Matrix<double,3,3> a15prec,
86  double kfang, double initang, double cycles,
87  double pnoise, double qnoise, double snoise, double dpnoise, double dqnoise);
88 
89 
90 #endif // _VO_SETUP_H_
Eigen
Definition: sba_file_io.h:18
sba::SysSBA
SysSBA holds a set of nodes and points for sparse bundle adjustment.
Definition: sba.h:75
frame_common::CamParams
Definition: node.h:21
sba::SysSPA
SysSPA holds a set of nodes and constraints for sparse pose adjustment.
Definition: sba.h:440
frame_common
Definition: node.h:15
utime
long long utime()
spiral_setup
void spiral_setup(SysSBA &sba, CamParams &cpars, vector< Matrix< double, 6, 1 >, Eigen::aligned_allocator< Matrix< double, 6, 1 > > > &cps, double s_near, double s_far, double ptsize, double kfang, double initang, double cycles, double inoise, double pnoise, double qnoise)
sba
Definition: bpcg.h:60
sphere_setup
void sphere_setup(SysSBA &sba, CamParams &cpars, vector< Matrix< double, 6, 1 >, Eigen::aligned_allocator< Matrix< double, 6, 1 > > > &cps, int ncams, int ncpts, int nccs, double inoise, double pnoise, double qnoise)
sba::SysSPA2d
SysSPA2d holds a set of nodes and constraints for sparse pose adjustment.
Definition: spa2d.h:192
std
spa_spiral_setup
void spa_spiral_setup(SysSPA &spa, bool use_cross_links, vector< Matrix< double, 6, 1 >, Eigen::aligned_allocator< Matrix< double, 6, 1 > > > &cps, Matrix< double, 6, 6 > prec, Matrix< double, 6, 6 > vprec, Matrix< double, 6, 6 > a10prec, Matrix< double, 6, 6 > a15prec, double kfang, double initang, double cycles, double pnoise, double qnoise, double snoise, double mpnoise, double mqnoise)
sba.h
spa2d.h
spa2d_spiral_setup
void spa2d_spiral_setup(SysSPA2d &spa, vector< Matrix< double, 3, 1 >, Eigen::aligned_allocator< Matrix< double, 3, 1 > > > &cps, Matrix< double, 3, 3 > prec, Matrix< double, 3, 3 > vprec, Matrix< double, 3, 3 > a10prec, Matrix< double, 3, 3 > a15prec, double kfang, double initang, double cycles, double pnoise, double qnoise, double snoise, double dpnoise, double dqnoise)


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