Merge branch 'unstable' of https://github.com/opentrack/opentrack into dev/kalman

Conflicts:
	ftnoir_filter_kalman/ftnoir_filter_kalman.h

1 files changed, 39 insertions, 0 deletions

diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
new file mode 100644
index 00000000..5a2d7c0f
--- /dev/null
+++ b/ftnoir_tracker_aruco/trans_calib.h
@@ -0,0 +1,39 @@
+/* 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.
+ */
+
+#ifndef TRANSCALIB_H
+#define TRANSCALIB_H
+
+#include <opencv2/core/core.hpp>
+
+//-----------------------------------------------------------------------------
+// Calibrates the translation from head to model = t_MH
+// by recursive least squares /
+// kalman filter in information form with identity noise covariance
+// measurement equation when head position = t_CH is fixed:
+// (R_CM_k , Id)*(-t_MH, t_CH) = t_CM_k
+
+class TranslationCalibrator
+{
+public:
+    TranslationCalibrator();
+
+    // reset the calibration process
+    void reset();
+
+    // update the current estimate
+    void update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k);
+
+    // get the current estimate for t_MH
+    cv::Vec3f get_estimate();
+
+private:
+    cv::Matx66f P;	// normalized precision matrix = inverse covariance
+    cv::Vec6f y;	// P*(-t_MH, t_CH)
+};
+
+#endif //TRANSCALIB_H