mobility.h

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#ifndef RMCV_MOBILITY_H
#define RMCV_MOBILITY_H
 
#include "core/core.h"
 
namespace rm {
    [[maybe_unused]] typedef enum CompensateMode {
        COMPENSATE_NONE = 0,    
        COMPENSATE_CLASSIC = 1, 
        COMPENSATE_NI = 2       
    } CompensateMode;
 
    void AxisRotateX(double y, double z, double thetaX, double &outY, double &outZ);
 
    void AxisRotateY(double x, double z, double thetaY, double &outX, double &outZ);
 
    void AxisRotateZ(double x, double y, double thetaZ, double &outX, double &outY);
 
    [[maybe_unused]] double
    DeltaHeight(cv::InputArray translationVector, double motorAngle, const cv::Point2f &offset = {0, 0},
                double angleOffset = 0);
 
    [[maybe_unused]] double Distance(cv::InputArray translationVector);
 
    double ProjectileAngle(double v0, double g, double d, double h);
 
    [[maybe_unused]] bool
    SolveCameraPose(cv::InputArray rotationVector, cv::InputArray translationVector, cv::OutputArray pose);
 
    [[maybe_unused]] double
    SolveGEA(cv::InputArray translationVector, cv::OutputArray gimbalErrorAngle, double g, double v0, double h,
             const cv::Point2f &offset = {0, 0}, double angleOffset = 0, rm::CompensateMode mode = rm::COMPENSATE_NONE);
 
    [[maybe_unused]] bool
    SolvePNP(const std::vector<cv::Point2f> &imagePoints, cv::InputArray cameraMatrix, cv::InputArray distortionFactor,
             const cv::Size2f &exactSize, cv::OutputArray translationVector, cv::OutputArray rotationVector,
             const cv::Rect &ROI = {0, 0, 0, 0});
}
 
#endif //RMCV_MOBILITY_H