1 files changed, 23 insertions, 12 deletions
diff --git a/include/libsurvive/survive_reproject.h b/include/libsurvive/survive_reproject.h
index 961db2a..c90d39c 100644
--- a/include/libsurvive/survive_reproject.h
+++ b/include/libsurvive/survive_reproject.h
@@ -1,6 +1,8 @@
 #pragma once
+
 #include "survive.h"
 #include <stdbool.h>
+#include <stdio.h>
 #include <stdlib.h>
 
 #ifdef __cplusplus
@@ -13,7 +15,7 @@ typedef struct {
 	bool swap;
 } survive_calibration_options_config;
 
-typedef struct {
+typedef struct survive_calibration_config {
 
 	survive_calibration_options_config phase, tilt, curve, gibMag, gibPhase;
 
@@ -21,10 +23,10 @@ typedef struct {
 
 } 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();
+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(const SurviveContext *ctx);
 
 size_t survive_calibration_config_max_idx();
 
@@ -32,10 +34,9 @@ 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,
+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
@@ -44,9 +45,19 @@ void survive_reproject_from_pose(const SurviveContext *ctx, int lighthouse,
 // 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);
+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);
+
+void survive_reproject_from_pose_with_bsd(const BaseStationData *bsd, const survive_calibration_config *config,
+										  const SurvivePose *pose, const FLT *point3d, FLT *out);
+
+void survive_reproject_with_config(const SurviveContext *ctx, const survive_calibration_config *config, int lighthouse,
+								   const FLT *point3d, FLT *out);
+
+void survive_calibration_config_fprint(FILE *file, const survive_calibration_config *config);
+
+void survive_apply_bsd_calibration_by_flag(SurviveContext *ctx, int lh, enum SurviveCalFlag f, const FLT *in, FLT *out);
+void survive_apply_bsd_calibration(SurviveContext *ctx, int lh, const FLT *in, FLT *out);
 
 #ifdef __cplusplus
 }