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authorJustin Berger <j.david.berger@gmail.com>2018-04-08 15:54:07 -0600
committerJustin Berger <j.david.berger@gmail.com>2018-04-08 16:19:39 -0600
commitd46271513e6f789af0e82d4ed6628abe21e96a92 (patch)
treeac932f6973ecb22c0da0d6d65c23679c46b7e745 /include/libsurvive/survive_reproject.h
parent347a479f84f124548e810d94d91175b6be43db1d (diff)
downloadlibsurvive-d46271513e6f789af0e82d4ed6628abe21e96a92.tar.gz
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Added jacobian to sba, ~2x speed improvement
Diffstat (limited to 'include/libsurvive/survive_reproject.h')
-rw-r--r--include/libsurvive/survive_reproject.h9
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.