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-rw-r--r--cv/translation-calibrator.cpp41
1 files changed, 41 insertions, 0 deletions
diff --git a/cv/translation-calibrator.cpp b/cv/translation-calibrator.cpp
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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.
+ */
+
+#include "translation-calibrator.hpp"
+
+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]);
+}