tracker/aruco: we never meant to copy the calibrator

4 files changed, 4 insertions, 84 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index ec778624..282a6516 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -499,9 +499,9 @@ void aruco_dialog::toggleCalibrate()
         cleanupCalib();
 
         auto pos = calibrator.get_estimate();
-        s.headpos_x = pos(0);
-        s.headpos_y = pos(1);
-        s.headpos_z = pos(2);
+        s.headpos_x = -pos(0);
+        s.headpos_y = -pos(1);
+        s.headpos_z = -pos(2);
     }
 }
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index e3859636..02b7e0a7 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -9,7 +9,7 @@
 
 #include "ui_aruco-trackercontrols.h"
 #include "options/options.hpp"
-#include "trans_calib.h"
+#include "cv/translation-calibrator.hpp"
 #include "api/plugin-api.hpp"
 #include "cv/video-widget.hpp"
 #include "compat/timer.hpp"
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]);
-}
diff --git a/tracker-aruco/trans_calib.h b/tracker-aruco/trans_calib.h
deleted file mode 100644
index 3d1e56fa..00000000
--- a/tracker-aruco/trans_calib.h
+++ /dev/null
@@ -1,39 +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.
- */
-
-#ifndef TRANSCALIB_H
-#define TRANSCALIB_H
-
-#include <opencv2/core/core.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::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k);
-
-    // get the current estimate for t_MH
-    cv::Vec3f get_estimate();
-
-private:
-    cv::Matx66f P;  // normalized precision matrix = inverse covariance
-    cv::Vec6f y;    // P*(-t_MH, t_CH)
-};
-
-#endif //TRANSCALIB_H