#include <stdio.h>
#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/StdVector>
#include <vector>
#include <sparse_bundle_adjustment/csparse.h>
#include <sparse_bundle_adjustment/bpcg/bpcg.h>

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Classes
class	sba::Con2dP2

class	sba::Node2d

class	sba::SysSPA2d
	SysSPA2d holds a set of nodes and constraints for sparse pose adjustment. More...

Namespaces
	sba

Macros
#define	EIGEN_USE_NEW_STDVECTOR

#define	SBA_BLOCK_JACOBIAN_PCG 3

#define	SBA_DENSE_CHOLESKY 0

#define	SBA_GRADIENT 2

#define	SBA_SPARSE_CHOLESKY 1

Functions
bool	sba::read2dP2File (char *fname, SysSPA2d spa)
	constraint files More...

Macro Definition Documentation

◆ EIGEN_USE_NEW_STDVECTOR

#define EIGEN_USE_NEW_STDVECTOR

Definition at line 43 of file spa2d.h.

◆ SBA_BLOCK_JACOBIAN_PCG

#define SBA_BLOCK_JACOBIAN_PCG 3

Definition at line 66 of file spa2d.h.

◆ SBA_DENSE_CHOLESKY

#define SBA_DENSE_CHOLESKY 0

Definition at line 63 of file spa2d.h.

◆ SBA_GRADIENT

#define SBA_GRADIENT 2

Definition at line 65 of file spa2d.h.

◆ SBA_SPARSE_CHOLESKY

#define SBA_SPARSE_CHOLESKY 1

Definition at line 64 of file spa2d.h.

Classes

Namespaces