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66 lines
2.8 KiB
C++
66 lines
2.8 KiB
C++
/**
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******************************************************************************
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*
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* @file calibrationutils.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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*
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* @brief Utilities for calibration. Ellipsoid and polynomial fit algorithms
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* @see The GNU Public License (GPL) Version 3
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* @defgroup
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef CALIBRATIONUTILS_H
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#define CALIBRATIONUTILS_H
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#include <Eigen/Core>
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#include <Eigen/Eigenvalues>
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#include <Eigen/Dense>
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#include <Eigen/LU>
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#include <QList>
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namespace OpenPilot {
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class CalibrationUtils {
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public:
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struct EllipsoidCalibrationResult {
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Eigen::Matrix3f CalibrationMatrix;
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Eigen::Vector3f Scale;
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Eigen::Vector3f Bias;
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};
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static bool EllipsoidCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ,
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float nominalRange,
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EllipsoidCalibrationResult *result,
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bool fitAlongXYZ);
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static bool PolynomialCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, int degree, Eigen::Ref<Eigen::VectorXf> result, const double maxRelativeError);
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static void ComputePoly(Eigen::VectorXf *samplesX, Eigen::VectorXf *polynomial, Eigen::VectorXf *polyY);
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static float ComputeSigma(Eigen::VectorXf *samplesY);
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static int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]);
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static double listMean(QList<double> list);
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static double listVar(QList<double> list);
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private:
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static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ,
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Eigen::Vector3f *center,
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Eigen::VectorXf *radii,
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Eigen::MatrixXf *evecs, bool fitAlongXYZ);
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static int LinearEquationsSolve(int nDim, double *pfMatr, double *pfVect, double *pfSolution);
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};
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}
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#endif // CALIBRATIONUTILS_H
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