diff options
Diffstat (limited to 'include')
| -rw-r--r-- | include/libsurvive/survive_imu.h | 2 | ||||
| -rw-r--r-- | include/libsurvive/survive_reproject.h | 9 |
2 files changed, 10 insertions, 1 deletions
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h index 11635aa..508710a 100644 --- a/include/libsurvive/survive_imu.h +++ b/include/libsurvive/survive_imu.h @@ -27,7 +27,7 @@ typedef struct { FLT P[7]; // estimate variance - float integralFBx, integralFBy, integralFBz; // integral error terms scaled by Ki + LinmathVec3d integralFB; } SurviveIMUTracker; 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. |