/* 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 Matx33d& R_CM_k, const Vec3d& t_CM_k)
{
	Matx<double, 6,3> H_k_T = Matx<double, 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]);
}