Paparazzi UAS  v5.15_devel-113-g1b57ff1
Paparazzi is a free software Unmanned Aircraft System.
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PnP_AHRS.h
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1 /*
2  * Copyright (C) Guido de Croon, 2018
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
36 #ifndef PNP_AHRS_H
37 #define PNP_AHRS_H
38 
39 #include "std.h"
40 #include <math.h>
41 #include "math/pprz_algebra.h"
46 
47 // Get the world position of the camera, given image coordinates and corresponding world corners.
48 struct FloatVect3 get_world_position_from_image_points(int *x_corners, int *y_corners, struct FloatVect3 *world_corners,
49  int n_corners,
50  struct camera_intrinsics_t cam_intrinsics, struct FloatEulers cam_body);
51 #endif /* PNP_AHRS_H */
Simple matrix helper macros.
euler angles
Paparazzi floating point algebra.
Paparazzi generic algebra macros.
struct FloatVect3 get_world_position_from_image_points(int *x_corners, int *y_corners, struct FloatVect3 *world_corners, int n_corners, struct camera_intrinsics_t cam_intrinsics, struct FloatEulers cam_body)
Get the world position of the camera, given image coordinates and corresponding world coordinates...
Definition: PnP_AHRS.c:54
int n_corners
Definition: detect_gate.c:109
Functions for undistorting camera images.
struct FloatEulers cam_body
Definition: detect_gate.c:112
struct FloatVect3 world_corners[4]
Definition: detect_gate.c:106