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