Run dos2unix on the tree. No user-facing changes.

1 files changed, 38 insertions, 38 deletions

diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
index 4024d011..6288546a 100644
--- a/ftnoir_tracker_pt/trans_calib.h
+++ b/ftnoir_tracker_pt/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