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author | CNLohr <charles@cnlohr.com> | 2018-03-11 21:32:49 -0400 |
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committer | GitHub <noreply@github.com> | 2018-03-11 21:32:49 -0400 |
commit | 9c7823c17219c659cf12eab9cc8bb2b3f68bbc5e (patch) | |
tree | 550d3faabe5a22ccd099d55290682bd0b01bc1d1 /include | |
parent | 6ba96f31c51cbfc8b57cfe87c129eba125bf793d (diff) | |
parent | 89f37774395530ef7267d4115f1a6242e0e9ce49 (diff) | |
download | libsurvive-9c7823c17219c659cf12eab9cc8bb2b3f68bbc5e.tar.gz libsurvive-9c7823c17219c659cf12eab9cc8bb2b3f68bbc5e.tar.bz2 |
Merge pull request #110 from cnlohr/reprojection
This adds reprojection functionality to the library
Diffstat (limited to 'include')
-rw-r--r-- | include/libsurvive/survive_reproject.h | 53 |
1 files changed, 53 insertions, 0 deletions
diff --git a/include/libsurvive/survive_reproject.h b/include/libsurvive/survive_reproject.h new file mode 100644 index 0000000..961db2a --- /dev/null +++ b/include/libsurvive/survive_reproject.h @@ -0,0 +1,53 @@ +#pragma once +#include "survive.h" +#include <stdbool.h> +#include <stdlib.h> + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct { + bool enable[2]; + bool invert[2]; + bool swap; +} survive_calibration_options_config; + +typedef struct { + + survive_calibration_options_config phase, tilt, curve, gibMag, gibPhase; + + bool gibUseSin; + +} survive_calibration_config; + +void survive_calibration_options_config_apply( + const survive_calibration_options_config *option, const FLT *input, + FLT *output); +const survive_calibration_config *survive_calibration_default_config(); + +size_t survive_calibration_config_max_idx(); + +survive_calibration_config survive_calibration_config_create_from_idx(size_t v); + +size_t survive_calibration_config_index(const survive_calibration_config *config); + +void survive_reproject(const SurviveContext *ctx, int lighthouse, FLT *point3d, + FLT *out); +void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse, + const SurvivePose *pose, FLT *point3d, + FLT *out); + +// 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 syste +// would be. +// While this is typically opposite of what we want to do -- we want to find the 3d +// position from a 2D coordinate, this is helpful since the minimization of reprojection +// error is a core mechanism to many types of solvers. +void survive_reproject_from_pose_with_config( + const SurviveContext *ctx, const survive_calibration_config *config, + int lighthouse, const SurvivePose *pose, const FLT *point3d, FLT *out); + +#ifdef __cplusplus +} +#endif |