dos2unix only

1 files changed, 43 insertions, 43 deletions

diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
index 9b75a1b6..729a0b7f 100644
--- a/ftnoir_tracker_pt/trans_calib.cpp
+++ b/ftnoir_tracker_pt/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]);
 }
\ No newline at end of file