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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div id="projectname">Paparazzi UAS
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<div class="title">PnP_AHRS.h</div> </div>
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<a href="PnP__AHRS_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) Guido de Croon, 2018</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * This file is part of Paparazzi.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Paparazzi is free software; you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * the Free Software Foundation; either version 2, or (at your option)</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * Paparazzi is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * GNU General Public License for more details.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * along with Paparazzi; see the file COPYING. If not, see</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * <http://www.gnu.org/licenses/>.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#ifndef PNP_AHRS_H</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#define PNP_AHRS_H</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "<a class="code" href="std_8h.html">std.h</a>"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <math.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "<a class="code" href="pprz__algebra_8h.html">math/pprz_algebra.h</a>"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "<a class="code" href="pprz__algebra__float_8h.html">math/pprz_algebra_float.h</a>"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "<a class="code" href="pprz__simple__matrix_8h.html">math/pprz_simple_matrix.h</a>"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "<a class="code" href="video__device_8h.html">peripherals/video_device.h</a>"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "<a class="code" href="undistortion_8h.html">modules/computer_vision/lib/vision/undistortion.h</a>"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment">// Get the world position of the camera, given image coordinates and corresponding world corners.</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">struct </span><a class="code" href="group__math__algebra__float.html#structFloatVect3">FloatVect3</a> <a class="code" href="PnP__AHRS_8h.html#a30f92e7ee757f2657644e0df845ff43a">get_world_position_from_image_points</a>(int *x_corners, <span class="keywordtype">int</span> *y_corners, <span class="keyword">struct </span><a class="code" href="group__math__algebra__float.html#structFloatVect3">FloatVect3</a> *<a class="code" href="detect__gate_8c.html#a5abe2d7a4b0bc945745785222ef0d59a">world_corners</a>,</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">int</span> <a class="code" href="detect__gate_8c.html#afbc2c3a79a0312bcc3173018a91dccca">n_corners</a>,</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">struct </span><a class="code" href="video__device_8h.html#structcamera__intrinsics__t">camera_intrinsics_t</a> cam_intrinsics, struct <a class="code" href="group__math__algebra__float.html#structFloatEulers">FloatEulers</a> <a class="code" href="detect__gate_8c.html#a6614f0e4c0cc22a362eb20dcc5e6c3ae">cam_body</a>);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#endif </span><span class="comment">/* PNP_AHRS_H */</span><span class="preprocessor"></span></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="avideo__device_8h_html"><div class="ttname"><a href="video__device_8h.html">video_device.h</a></div></div>
<div class="ttc" id="adetect__gate_8c_html_a6614f0e4c0cc22a362eb20dcc5e6c3ae"><div class="ttname"><a href="detect__gate_8c.html#a6614f0e4c0cc22a362eb20dcc5e6c3ae">cam_body</a></div><div class="ttdeci">struct FloatEulers cam_body</div><div class="ttdef"><b>Definition:</b> <a href="detect__gate_8c_source.html#l00112">detect_gate.c:112</a></div></div>
<div class="ttc" id="apprz__algebra__float_8h_html"><div class="ttname"><a href="pprz__algebra__float_8h.html">pprz_algebra_float.h</a></div><div class="ttdoc">Paparazzi floating point algebra.</div></div>
<div class="ttc" id="aundistortion_8h_html"><div class="ttname"><a href="undistortion_8h.html">undistortion.h</a></div><div class="ttdoc">Functions for undistorting camera images.</div></div>
<div class="ttc" id="aPnP__AHRS_8h_html_a30f92e7ee757f2657644e0df845ff43a"><div class="ttname"><a href="PnP__AHRS_8h.html#a30f92e7ee757f2657644e0df845ff43a">get_world_position_from_image_points</a></div><div class="ttdeci">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)</div><div class="ttdoc">Get the world position of the camera, given image coordinates and corresponding world coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="PnP__AHRS_8c_source.html#l00054">PnP_AHRS.c:54</a></div></div>
<div class="ttc" id="agroup__math__algebra__float_html_structFloatVect3"><div class="ttname"><a href="group__math__algebra__float.html#structFloatVect3">FloatVect3</a></div><div class="ttdef"><b>Definition:</b> <a href="pprz__algebra__float_8h_source.html#l00054">pprz_algebra_float.h:54</a></div></div>
<div class="ttc" id="astd_8h_html"><div class="ttname"><a href="std_8h.html">std.h</a></div></div>
<div class="ttc" id="adetect__gate_8c_html_afbc2c3a79a0312bcc3173018a91dccca"><div class="ttname"><a href="detect__gate_8c.html#afbc2c3a79a0312bcc3173018a91dccca">n_corners</a></div><div class="ttdeci">int n_corners</div><div class="ttdef"><b>Definition:</b> <a href="detect__gate_8c_source.html#l00109">detect_gate.c:109</a></div></div>
<div class="ttc" id="apprz__simple__matrix_8h_html"><div class="ttname"><a href="pprz__simple__matrix_8h.html">pprz_simple_matrix.h</a></div><div class="ttdoc">Simple matrix helper macros.</div></div>
<div class="ttc" id="apprz__algebra_8h_html"><div class="ttname"><a href="pprz__algebra_8h.html">pprz_algebra.h</a></div><div class="ttdoc">Paparazzi generic algebra macros.</div></div>
<div class="ttc" id="agroup__math__algebra__float_html_structFloatEulers"><div class="ttname"><a href="group__math__algebra__float.html#structFloatEulers">FloatEulers</a></div><div class="ttdoc">euler angles</div><div class="ttdef"><b>Definition:</b> <a href="pprz__algebra__float_8h_source.html#l00084">pprz_algebra_float.h:84</a></div></div>
<div class="ttc" id="adetect__gate_8c_html_a5abe2d7a4b0bc945745785222ef0d59a"><div class="ttname"><a href="detect__gate_8c.html#a5abe2d7a4b0bc945745785222ef0d59a">world_corners</a></div><div class="ttdeci">struct FloatVect3 world_corners[4]</div><div class="ttdef"><b>Definition:</b> <a href="detect__gate_8c_source.html#l00106">detect_gate.c:106</a></div></div>
<div class="ttc" id="avideo__device_8h_html_structcamera__intrinsics__t"><div class="ttname"><a href="video__device_8h.html#structcamera__intrinsics__t">camera_intrinsics_t</a></div><div class="ttdef"><b>Definition:</b> <a href="video__device_8h_source.html#l00046">video_device.h:46</a></div></div>
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