tracker/aruco: we never meant to copy the calibrator

1 files changed, 0 insertions, 41 deletions

diff --git a/tracker-aruco/trans_calib.cpp b/tracker-aruco/trans_calib.cpp
deleted file mode 100644
index b5148efd..00000000
--- a/tracker-aruco/trans_calib.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-/* 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"
-
-TranslationCalibrator::TranslationCalibrator()
-{
-    reset();
-}
-
-void TranslationCalibrator::reset()
-{
-    P = cv::Matx66f::zeros();
-    y = cv::Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k)
-{
-    cv::Matx<double, 6,3> H_k_T = cv::Matx<double, 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;
-}
-
-cv::Vec3f TranslationCalibrator::get_estimate()
-{
-    cv::Vec6f x = P.inv() * y;
-    return cv::Vec3f(x[0], x[1], x[2]);
-}