sba_setup.h

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//
// Functions defined in various test setup files
//

#ifndef _SBA_SETUP_H_
#define _SBA_SETUP_H_

#include "sparse_bundle_adjustment/sba.h"
#include "sparse_bundle_adjustment/spa2d.h"
using namespace Eigen;
using namespace sba;
using namespace frame_common;

#include <iostream>
#include <fstream>
#include <vector>
#include <sys/time.h>

using namespace std;

// elapsed time in microseconds
long long utime();
// set up spiral system
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);

void
sphere_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
             int ncams,         // number of cameras
             int ncpts,         // number of new pts per camera
             int nccs,          // number of camera connections per camera
             double inoise, double pnoise, double qnoise);


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, // measurement noise (m,deg), scale noise (percent)
                 double mpnoise, double mqnoise); // initial displacement (m,deg)


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);


#endif  // _VO_SETUP_H_