CRLF -> LF conversion .git/index removal

Forgot to do it earlier, hence trash commits in recent days

2 files changed, 82 insertions, 82 deletions

diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index dd18399a..b1f956b4 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -1,44 +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]);

-}

+/* 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]);
+}
diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
index f2521690..609c9af1 100644
--- a/ftnoir_tracker_aruco/trans_calib.h
+++ b/ftnoir_tracker_aruco/trans_calib.h
@@ -1,39 +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)

-};

-

+/* 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