From 027fd0f8b4efcf005a0bba850109089737f40a3f Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Wed, 8 Jul 2015 06:51:51 +0200 Subject: retab and reformat only --- ftnoir_tracker_aruco/ar_video_widget.h | 3 +-- ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h | 10 ++++---- ftnoir_tracker_aruco/trans_calib.cpp | 32 ++++++++++++------------- ftnoir_tracker_aruco/trans_calib.h | 4 ++-- 4 files changed, 24 insertions(+), 25 deletions(-) (limited to 'ftnoir_tracker_aruco') diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h index 8c51382b..638b0ab4 100644 --- a/ftnoir_tracker_aruco/ar_video_widget.h +++ b/ftnoir_tracker_aruco/ar_video_widget.h @@ -21,8 +21,7 @@ // ---------------------------------------------------------------------------- class ArucoVideoWidget : public QWidget { - Q_OBJECT - + Q_OBJECT private: QMutex mtx; QImage texture; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h index ffcd3eca..ac393bfb 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco_dll.h @@ -10,9 +10,9 @@ //----------------------------------------------------------------------------- class TrackerDll : public Metadata { - // ITrackerDll interface - void getFullName(QString *strToBeFilled); - void getShortName(QString *strToBeFilled); - void getDescription(QString *strToBeFilled); - void getIcon(QIcon *icon); + // ITrackerDll interface + void getFullName(QString *strToBeFilled); + void getShortName(QString *strToBeFilled); + void getDescription(QString *strToBeFilled); + void getIcon(QIcon *icon); }; diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp index 369de449..a562763a 100644 --- a/ftnoir_tracker_aruco/trans_calib.cpp +++ b/ftnoir_tracker_aruco/trans_calib.cpp @@ -12,33 +12,33 @@ using namespace cv; //----------------------------------------------------------------------------- TranslationCalibrator::TranslationCalibrator() { - reset(); + reset(); } void TranslationCalibrator::reset() { - P = Matx66f::zeros(); - y = Vec6f(0,0,0, 0,0,0); + P = Matx66f::zeros(); + y = Vec6f(0,0,0, 0,0,0); } void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k) { - Matx H_k_T = Matx::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; + Matx H_k_T = Matx::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; + 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 5a2d7c0f..3d1e56fa 100644 --- a/ftnoir_tracker_aruco/trans_calib.h +++ b/ftnoir_tracker_aruco/trans_calib.h @@ -32,8 +32,8 @@ public: cv::Vec3f get_estimate(); private: - cv::Matx66f P; // normalized precision matrix = inverse covariance - cv::Vec6f y; // P*(-t_MH, t_CH) + cv::Matx66f P; // normalized precision matrix = inverse covariance + cv::Vec6f y; // P*(-t_MH, t_CH) }; #endif //TRANSCALIB_H -- cgit v1.2.3