diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2014-07-11 17:23:20 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-07-11 17:23:20 +0200 |
| commit | 4dc41d3d8642d90d52b667dd05b4f99735f83a37 (patch) | |
| tree | c146ff0fd20918bf87ab841fed7cdffde4393655 /ftnoir_tracker_aruco/trans_calib.h | |
| parent | 5f9494fa021582f725fed487162cdb043c607a50 (diff) | |
integrate PT axis of rotation estimation into AR
Diffstat (limited to 'ftnoir_tracker_aruco/trans_calib.h')
| -rw-r--r-- | ftnoir_tracker_aruco/trans_calib.h | 39 |
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..f2521690 --- /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/opencv.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::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+
+ // get the current estimate for t_MH
+ cv::Vec3f get_estimate();
+
+protected:
+ cv::Matx66f P; // normalized precision matrix = inverse covariance
+ cv::Vec6f y; // P*(-t_MH, t_CH)
+};
+
+#endif //TRANSCALIB_H
\ No newline at end of file |