2 files changed, 82 insertions, 82 deletions
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index dd18399a..b1f956b4 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -1,44 +1,44 @@
-/* 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"
-
-using namespace cv;
-
-//-----------------------------------------------------------------------------
-TranslationCalibrator::TranslationCalibrator()
-{
-	reset();
-}
-
-void TranslationCalibrator::reset()
-{
-	P = Matx66f::zeros();
-	y = Vec6f(0,0,0, 0,0,0);
-}
-
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
-{
-	Matx<float, 6,3> H_k_T = 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;
-}
-
-Vec3f TranslationCalibrator::get_estimate()
-{
-	Vec6f x = P.inv() * y;
-    return Vec3f(x[0], x[1], x[2]);
-}
+/* 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"
+
+using namespace cv;
+
+//-----------------------------------------------------------------------------
+TranslationCalibrator::TranslationCalibrator()
+{
+	reset();
+}
+
+void TranslationCalibrator::reset()
+{
+	P = Matx66f::zeros();
+	y = Vec6f(0,0,0, 0,0,0);
+}
+
+void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+{
+	Matx<float, 6,3> H_k_T = 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;
+}
+
+Vec3f TranslationCalibrator::get_estimate()
+{
+	Vec6f x = P.inv() * y;
+    return Vec3f(x[0], x[1], x[2]);
+}
diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
index f2521690..609c9af1 100644
--- a/ftnoir_tracker_aruco/trans_calib.h
+++ b/ftnoir_tracker_aruco/trans_calib.h
@@ -1,39 +1,39 @@
-/* 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/opencv.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::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
-
-	// get the current estimate for t_MH
-	cv::Vec3f get_estimate();
-
-protected:
-	cv::Matx66f P;	// normalized precision matrix = inverse covariance
-	cv::Vec6f y;	// P*(-t_MH, t_CH)
-};
-
+/* 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/opencv.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::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+
+	// get the current estimate for t_MH
+	cv::Vec3f get_estimate();
+
+protected:
+	cv::Matx66f P;	// normalized precision matrix = inverse covariance
+	cv::Vec6f y;	// P*(-t_MH, t_CH)
+};
+
 #endif //TRANSCALIB_H
 \ No newline at end of file