tracker/aruco: back out changes since rc7

However, include some crash fixes and minor changes.

Fixes #481

Reported-by: @Emton
Testing-by: @Emton

1 files changed, 41 insertions, 0 deletions

diff --git a/tracker-aruco/trans_calib.cpp b/tracker-aruco/trans_calib.cpp
new file mode 100644
index 00000000..b5148efd
--- /dev/null
+++ b/tracker-aruco/trans_calib.cpp
@@ -0,0 +1,41 @@
+/* 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]);
+}