diff options
Diffstat (limited to 'include')
| -rw-r--r-- | include/libsurvive/survive_reproject.h | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/include/libsurvive/survive_reproject.h b/include/libsurvive/survive_reproject.h index 08d1e96..961db2a 100644 --- a/include/libsurvive/survive_reproject.h +++ b/include/libsurvive/survive_reproject.h @@ -27,15 +27,23 @@ void survive_calibration_options_config_apply( 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); + +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); |