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 #include <sys/time.h>
52 
53 using namespace std;
54 
55 // elapsed time in microseconds
56 long long utime();
57 // set up spiral system
58 void
59 spiral_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>,Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
60  double s_near, double s_far,
61  double ptsize, double kfang, double initang, double cycles,
62  double inoise, double pnoise, double qnoise);
63 
64 void
65 sphere_setup(SysSBA &sba, CamParams &cpars, vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
66  int ncams, // number of cameras
67  int ncpts, // number of new pts per camera
68  int nccs, // number of camera connections per camera
69  double inoise, double pnoise, double qnoise);
70 
71 
72 void
73 spa_spiral_setup(SysSPA &spa, bool use_cross_links,
74  vector<Matrix<double,6,1>, Eigen::aligned_allocator<Matrix<double,6,1> > > &cps,
75  Matrix<double,6,6> prec, Matrix<double,6,6> vprec,
76  Matrix<double,6,6> a10prec, Matrix<double,6,6> a15prec,
77  double kfang, double initang, double cycles,
78  double pnoise, double qnoise, double snoise, // measurement noise (m,deg), scale noise (percent)
79  double mpnoise, double mqnoise); // initial displacement (m,deg)
80 
81 
82 void
84  vector<Matrix<double,3,1>, Eigen::aligned_allocator<Matrix<double,3,1> > > &cps,
85  Matrix<double,3,3> prec, Matrix<double,3,3> vprec,
86  Matrix<double,3,3> a10prec, Matrix<double,3,3> a15prec,
87  double kfang, double initang, double cycles,
88  double pnoise, double qnoise, double snoise, double dpnoise, double dqnoise);
89 
90 
91 #endif // _VO_SETUP_H_
SysSPA holds a set of nodes and constraints for sparse pose adjustment.
Definition: sba.h:440
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)
SysSBA holds a set of nodes and points for sparse bundle adjustment.
Definition: sba.h:75
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 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)
Definition: bpcg.h:60
long long utime()
SysSPA2d holds a set of nodes and constraints for sparse pose adjustment.
Definition: spa2d.h:192
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
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autogenerated on Fri Mar 15 2019 02:41:46