diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-09-06 03:50:52 -0700 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-09-06 03:50:52 -0700 |
| commit | db59542cbb2fc3c2ac1b40928d514113bced8b0b (patch) | |
| tree | 88b9c5efe598aed10bb82c54bfcc04a638866f0d /FTNoIR_Tracker_PT/trans_calib.cpp | |
| parent | b2167e6cba93106e3e6fa4a8337ebadbf049c1f8 (diff) | |
rename case
Diffstat (limited to 'FTNoIR_Tracker_PT/trans_calib.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/trans_calib.cpp | 44 |
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 |