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