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.cpp | |
| 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.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/trans_calib.cpp | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp new file mode 100644 index 00000000..9b75a1b6 --- /dev/null +++ b/FTNoIR_Tracker_PT/trans_calib.cpp @@ -0,0 +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]);
+}
\ No newline at end of file |