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authorStanislaw Halik <sthalik@misaki.pl>2014-09-22 19:02:33 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-09-22 19:02:33 +0200
commite2b296165236cdb0952c429d91d357b92d9ee18e (patch)
tree2a6d1dc0a9f5ac0050e9dbe18922b844b08521a8 /ftnoir_tracker_pt/trans_calib.cpp
parent3fe35807466580d910a5bd33a7ae0bc8f439ee19 (diff)
dos2unix only
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.cpp')
-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp86
1 files changed, 43 insertions, 43 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index 9b75a1b6..729a0b7f 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -1,44 +1,44 @@
-/* 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]);
+/* 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