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authorStanislaw Halik <sthalik@misaki.pl>2013-03-22 21:48:15 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-03-22 21:48:15 +0100
commit4f00c4c74d213a37a4b1a3313e50ce2b4dd51271 (patch)
treef692743cb752c994c05fe2761f83af08aa28d239 /ftnoir_tracker_pt/trans_calib.h
parent5c5ec4b4238996770bfd74ddfc87934ace40bf0f (diff)
finish rename
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.h')
-rw-r--r--ftnoir_tracker_pt/trans_calib.h39
1 files changed, 0 insertions, 39 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
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--- a/ftnoir_tracker_pt/trans_calib.h
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-/* 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