summaryrefslogtreecommitdiffhomepage
path: root/ftnoir_tracker_pt/trans_calib.cpp
diff options
context:
space:
mode:
authorStanislaw Halik <sthalik@misaki.pl>2014-09-06 03:50:52 -0700
committerStanislaw Halik <sthalik@misaki.pl>2014-09-06 03:50:52 -0700
commitdb59542cbb2fc3c2ac1b40928d514113bced8b0b (patch)
tree88b9c5efe598aed10bb82c54bfcc04a638866f0d /ftnoir_tracker_pt/trans_calib.cpp
parentb2167e6cba93106e3e6fa4a8337ebadbf049c1f8 (diff)
rename case
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.cpp')
-rw-r--r--ftnoir_tracker_pt/trans_calib.cpp44
1 files changed, 44 insertions, 0 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
new file mode 100644
index 00000000..9b75a1b6
--- /dev/null
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -0,0 +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]);
+} \ No newline at end of file