flush

It crashes after drawing a frame for now.

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 2994eb48..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]);
-}