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authorStanislaw Halik <sthalik@misaki.pl>2013-03-22 21:48:15 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-03-22 21:48:15 +0100
commit4f00c4c74d213a37a4b1a3313e50ce2b4dd51271 (patch)
treef692743cb752c994c05fe2761f83af08aa28d239 /ftnoir_tracker_pt/trans_calib.cpp
parent5c5ec4b4238996770bfd74ddfc87934ace40bf0f (diff)
finish rename
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.cpp')
-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp44
1 files changed, 0 insertions, 44 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
deleted file mode 100644
index 9b75a1b6..00000000
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/* 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.
- */
-
-#include "trans_calib.h"
-
-using namespace cv;
-
-//-----------------------------------------------------------------------------
-TranslationCalibrator::TranslationCalibrator()
-{
- reset();
-}
-
-void TranslationCalibrator::reset()
-{
- P = Matx66f::zeros();
- y = Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
-{
- Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
- for (int i=0; i<3; ++i) {
- for (int j=0; j<3; ++j) {
- H_k_T(i,j) = R_CM_k(j,i);
- }
- }
- for (int i=0; i<3; ++i)
- {
- H_k_T(3+i,i) = 1.0;
- }
- P += H_k_T * H_k_T.t();
- y += H_k_T * t_CM_k;
-}
-
-Vec3f TranslationCalibrator::get_estimate()
-{
- Vec6f x = P.inv() * y;
- return Vec3f(-x[0], -x[1], -x[2]);
-} \ No newline at end of file