1 files changed, 39 insertions, 0 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
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+++ b/ftnoir_tracker_pt/trans_calib.h
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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.
+ */
+
+#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