Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
PnP_AHRS.h
Go to the documentation of this file.
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 */
video_device.h
cam_body
struct FloatEulers cam_body
Definition: detect_gate.c:112
pprz_algebra_float.h
Paparazzi floating point algebra.
undistortion.h
Functions for undistorting camera images.
get_world_position_from_image_points
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
FloatVect3
Definition: pprz_algebra_float.h:54
std.h
n_corners
int n_corners
Definition: detect_gate.c:109
pprz_simple_matrix.h
Simple matrix helper macros.
pprz_algebra.h
Paparazzi generic algebra macros.
FloatEulers
euler angles
Definition: pprz_algebra_float.h:84
world_corners
struct FloatVect3 world_corners[4]
Definition: detect_gate.c:106
camera_intrinsics_t
Definition: video_device.h:46