From 3089c4bbc10e98d18f43e8a70e7a3d0c0eaf0900 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 22 Mar 2013 20:48:17 +0100
Subject: Downcase. PLEASE TURN OFF IGNORING CASE IN GIT CONFIG!!!

.git/config:

[core]
	ignorecase = false
---
 ftnoir_tracker_pt/trans_calib.cpp | 44 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 ftnoir_tracker_pt/trans_calib.cpp

(limited to 'ftnoir_tracker_pt/trans_calib.cpp')

diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp
new file mode 100644
index 00000000..9b75a1b6
--- /dev/null
+++ b/ftnoir_tracker_pt/trans_calib.cpp
@@ -0,0 +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]);
+}
\ No newline at end of file
-- 
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