From bef7aff31e5ea073f0f160ca6a2f1e56b7dd881a Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 15 Sep 2013 12:39:32 +0200 Subject: Initial PT 1.1 import Codebase broken at this stage --- ftnoir_tracker_pt/trans_calib.cpp | 44 --------------------------------------- 1 file changed, 44 deletions(-) delete mode 100644 ftnoir_tracker_pt/trans_calib.cpp (limited to 'ftnoir_tracker_pt/trans_calib.cpp') diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp deleted file mode 100644 index 729a0b7f..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 H_k_T = Matx::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 -- cgit v1.2.3