57 lines
1.3 KiB
C++
57 lines
1.3 KiB
C++
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#ifndef RUNE_FIT_HPP_
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#define RUNE_FIT_HPP_
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// OpenCV
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#include <opencv2/core/types.hpp>
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#include <opencv2/opencv.hpp>
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#include <ceres/ceres.h>
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// STD
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#include <utility>
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#include <vector>
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namespace rm_power_rune
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{
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struct SpeedfitResidual
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{
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SpeedfitResidual(double x, double y)
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: t_(x), speed_(y) {}
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template <typename T>
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bool operator()(const T *const param, T *residual) const
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{
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//param[0]->a 0.78-1.045
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//param[1]->w 1.884-2
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//b= 2.090-a
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residual[0] = T(speed_) - (param[0] * ceres::sin(param[1] * T(t_)+param[2]) + (2.090 - param[0]));
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return true;
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}
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private:
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// Observations for a sample.
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const double t_;
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const double speed_;
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};
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class rune_fitter
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{
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private:
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std::vector<double> t_data_,speed_data_;
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double curve_param_[3]={0.78,1.884,0};
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int fitdataCount_; //拟合数据个数
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bool fit_flag;
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public:
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rune_fitter(int data_count);
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~rune_fitter();
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bool add_data(double t,double speed);
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bool fit_speed();
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bool is_data_enough();
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bool is_fitted();
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void draw_result();
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void draw_result_matplot();
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};
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} // namespace rm_power_rune
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#endif
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