001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.jni;
019
020public class ConstrainedSolvepnpJni {
021    public static native double[] do_optimization(
022            boolean heading_free,
023            int nTags,
024            double[] cameraCal,
025            double[] robot2camera,
026            double[] x_guess,
027            double[] field2points,
028            double[] point_observations,
029            double gyro_θ,
030            double gyro_error_scale_fac);
031}