Rev | Line | |
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[37] | 1 | #ifndef _SBA_DEMO_H_ |
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| 2 | #define _SBA_DEMO_H_ |
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| 3 | |
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| 4 | #define SBA_TERMINATION_THRESH 1E-12 //1E-15 |
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| 5 | |
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| 6 | #define SBA_MAX_REPROJ_ERROR 4.0 // max motion only reprojection error |
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| 7 | |
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| 8 | #define BA_MOTSTRUCT 0 |
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| 9 | #define BA_MOT 1 |
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| 10 | #define BA_STRUCT 2 |
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| 11 | #define BA_MOT_MOTSTRUCT 3 |
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| 12 | |
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| 13 | /* in imgproj.c */ |
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| 14 | extern void calcImgProj(double *a, double *qr, double *t, double *M, double *n); |
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| 15 | extern void calcImgProjJacRTS(double *a, double *qr, double *t, double *M, double jacmRT[2][7], double jacmS[2][3]); |
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| 16 | |
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| 17 | /* in readparams.c */ |
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| 18 | extern void readInitialSBAEstimate(char *camsfname, char *ptsfname, int *ncams, int *n3Dpts, int *n2Dprojs, |
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| 19 | double **motstruct, double **imgpts, char **vmask); |
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| 20 | extern void readCalibParams(char *fname, double ical[9]); |
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| 21 | extern void printSBAData(double *motstruct, int ncams, int n3Dpts, double *imgpts, int n2Dprojs, char *vmask); |
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| 22 | |
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| 23 | /* in eucsbademo.c */ |
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| 24 | extern void sba_driver(char *camsfname, char *ptsfname, char *calibfname); |
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| 25 | |
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| 26 | #endif /* _SBA_DEMO_H_ */ |
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