diff options
author | Justin Berger <j.david.berger@gmail.com> | 2018-04-08 15:54:07 -0600 |
---|---|---|
committer | Justin Berger <j.david.berger@gmail.com> | 2018-04-08 16:19:39 -0600 |
commit | d46271513e6f789af0e82d4ed6628abe21e96a92 (patch) | |
tree | ac932f6973ecb22c0da0d6d65c23679c46b7e745 /include/libsurvive/survive_reproject.h | |
parent | 347a479f84f124548e810d94d91175b6be43db1d (diff) | |
download | libsurvive-d46271513e6f789af0e82d4ed6628abe21e96a92.tar.gz libsurvive-d46271513e6f789af0e82d4ed6628abe21e96a92.tar.bz2 |
Added jacobian to sba, ~2x speed improvement
Diffstat (limited to 'include/libsurvive/survive_reproject.h')
-rw-r--r-- | include/libsurvive/survive_reproject.h | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/include/libsurvive/survive_reproject.h b/include/libsurvive/survive_reproject.h index e4f21d0..e7c1745 100644 --- a/include/libsurvive/survive_reproject.h +++ b/include/libsurvive/survive_reproject.h @@ -16,6 +16,15 @@ void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, cons void survive_reproject_from_pose_with_config(const SurviveContext *ctx, struct survive_calibration_config *config, int lighthouse, const SurvivePose *pose, FLT *point3d, FLT *out); +void survive_reproject_full_jac_obj_pose(FLT *out, const SurvivePose *obj_pose, const LinmathVec3d obj_pt, + const SurvivePose *lh2world, const BaseStationData *bsd, + const survive_calibration_config *config); + +void survive_reproject_full(FLT *out, const SurvivePose *obj_pose, const LinmathVec3d obj_pt, + const SurvivePose *lh2world, const BaseStationData *bsd, + const survive_calibration_config *config); + + // This is given a lighthouse -- in the same system as stored in BaseStationData, and // a 3d point and finds what the effective 'angle' value for a given lighthouse system // would be. |