move to subdirectory-based build system

Closes #224

1 files changed, 0 insertions, 39 deletions

diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
deleted file mode 100644
index 3d1e56fa..00000000
--- a/ftnoir_tracker_aruco/trans_calib.h
+++ /dev/null
@@ -1,39 +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.
- */
-
-#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