diff options
| author | Donovan Baarda <abo@minkirri.apana.org.au> | 2014-06-12 14:53:43 +1000 |
|---|---|---|
| committer | Donovan Baarda <abo@minkirri.apana.org.au> | 2014-06-12 14:53:43 +1000 |
| commit | 0669a40347ffa233bc6042b0f65d244509a61394 (patch) | |
| tree | 36a4577bdaa1ed28ca1ad222a54777012dd2dda8 /FTNoIR_Tracker_PT/trans_calib.h | |
| parent | 72540e0a96a3120a5d02271e714aba29e136ab78 (diff) | |
| parent | 7454496476ba17ea622781d280606161581c9544 (diff) | |
Merge branch 'master' of https://github.com/opentrack/opentrack into dev/ewma2
Resolved conflicts manually in files:
ftnoir_filter_ewma2/ftnoir_filter_ewma2.cpp
ftnoir_filter_ewma2/ftnoir_filter_ewma2.h
Diffstat (limited to 'FTNoIR_Tracker_PT/trans_calib.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/trans_calib.h | 39 |
1 files changed, 39 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/trans_calib.h b/FTNoIR_Tracker_PT/trans_calib.h new file mode 100644 index 00000000..f2521690 --- /dev/null +++ b/FTNoIR_Tracker_PT/trans_calib.h @@ -0,0 +1,39 @@ +/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef TRANSCALIB_H
+#define TRANSCALIB_H
+
+#include <opencv2/opencv.hpp>
+
+//-----------------------------------------------------------------------------
+// Calibrates the translation from head to model = t_MH
+// by recursive least squares /
+// kalman filter in information form with identity noise covariance
+// measurement equation when head position = t_CH is fixed:
+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
+
+class TranslationCalibrator
+{
+public:
+ TranslationCalibrator();
+
+ // reset the calibration process
+ void reset();
+
+ // update the current estimate
+ void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+
+ // get the current estimate for t_MH
+ cv::Vec3f get_estimate();
+
+protected:
+ cv::Matx66f P; // normalized precision matrix = inverse covariance
+ cv::Vec6f y; // P*(-t_MH, t_CH)
+};
+
+#endif //TRANSCALIB_H
\ No newline at end of file |