diff options
Diffstat (limited to 'include/libsurvive/survive_reproject.h')
-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 |