1 files changed, 41 insertions, 0 deletions
diff --git a/facetracknoir/trans_calib.cpp b/facetracknoir/trans_calib.cpp
new file mode 100644
index 00000000..a1a4b641
--- /dev/null
+++ b/facetracknoir/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::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k)
+{
+    cv::Matx<float, 6,3> H_k_T = cv::Matx<float, 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]);
+}