cruft

6 files changed, 22 insertions, 20 deletions

diff --git a/tracker-pt/CMakeLists.txt b/tracker-pt/CMakeLists.txt
index 4010b6c1..f12f530b 100644
--- a/tracker-pt/CMakeLists.txt
+++ b/tracker-pt/CMakeLists.txt
@@ -2,7 +2,7 @@ find_package(OpenCV QUIET)
 if(OpenCV_FOUND)
     otr_module(tracker-pt-base STATIC)
     target_include_directories(${self} SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS})
-    target_link_libraries(${self} opentrack-cv opencv_core opencv_imgproc opencv_videoio)
+    target_link_libraries(${self} opencv_imgproc opentrack-cv opencv_core)
     set_property(TARGET ${self} PROPERTY OUTPUT_NAME "pt-base")
 endif()
 add_subdirectory(module)
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index f52564f7..c72a7ffa 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -174,7 +174,7 @@ void Tracker_PT::data(double *data)
         alpha = atan2( R(1,0), R(0,0) );
         gamma = atan2( R(2,1), R(2,2) );
 
-        constexpr f rad2deg = f(180/M_PI);
+        constexpr f rad2deg = f(180/pi);
 
         data[Yaw] = rad2deg * alpha;
         data[Pitch] = -rad2deg * beta;
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index e6364a88..0f7af939 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -182,20 +182,20 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat1b& outpu
         const f radius = (f) threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value);
 
         float const* const __restrict ptr = hist.ptr<float>(0);
-        const unsigned area = uround(3 * M_PI * radius*radius);
+        const unsigned area = uround(3 * pi * radius*radius);
         const unsigned sz = unsigned(hist.cols * hist.rows);
         constexpr unsigned min_thres = 64;
         unsigned thres = min_thres;
         for (unsigned i = sz-1, cnt = 0; i > 32; i--)
         {
-            cnt += ptr[i];
+            cnt += (unsigned)ptr[i];
             if (cnt >= area)
                 break;
             thres = i;
         }
 
         if (thres > min_thres)
-            thres *= .8;
+            thres = uround(thres * .8);
 
         cv::threshold(frame_gray, output, thres, 255, cv::THRESH_BINARY);
     }
@@ -263,12 +263,12 @@ void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_
                 }
             }
 
-            const double radius = std::sqrt(cnt / M_PI);
+            const double radius = std::sqrt(cnt / pi);
             if (radius > region_size_max || radius < region_size_min)
                 continue;
 
             blobs.emplace_back(radius,
-                               vec2(rect.width/2., rect.height/2.),
+                               vec2(rect.width/f(2), rect.height/f(2)),
                                std::pow(f(norm), f(1.1))/cnt,
                                rect);
 
@@ -294,7 +294,7 @@ end:
 
     for (idx = 0; idx < sz; ++idx)
     {
-        blob &b = blobs[idx];
+        blob& b = blobs[idx];
         cv::Rect rect = b.rect;
 
         rect.x -= rect.width / 2;
diff --git a/tracker-pt/module/point_extractor.h b/tracker-pt/module/point_extractor.h
index 7dd82234..bbe202fa 100644
--- a/tracker-pt/module/point_extractor.h
+++ b/tracker-pt/module/point_extractor.h
@@ -19,7 +19,7 @@ namespace pt_module {
 
 using namespace types;
 
-struct blob
+struct blob final
 {
     f radius, brightness;
     vec2 pos;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index b04c8eb1..68e8c286 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -67,18 +67,19 @@ void PointModel::set_model(const pt_settings& s)
 
 void PointModel::get_d_order(const vec2* points, unsigned* d_order, const vec2& d) const
 {
+    constexpr unsigned cnt = PointModel::N_POINTS;
     // fit line to orthographically projected points
     using t = std::pair<f,unsigned>;
-    t d_vals[3];
+    t d_vals[cnt];
     // get sort indices with respect to d scalar product
-    for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
+    for (unsigned i = 0; i < cnt; ++i)
         d_vals[i] = t(d.dot(points[i]), i);
 
     std::sort(d_vals,
               d_vals + 3u,
               [](const t& a, const t& b) { return a.first < b.first; });
 
-    for (unsigned i = 0; i < PointModel::N_POINTS; ++i)
+    for (unsigned i = 0; i < cnt; ++i)
         d_order[i] = d_vals[i].second;
 }
 
@@ -98,18 +99,19 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vec2*
     const int diagonal = int(std::sqrt(f(info.res_x*info.res_x + info.res_y*info.res_y)));
     constexpr int div = 80;
     const int max_dist = diagonal / div; // 10 pixels for 640x480
+    constexpr unsigned sz = PointModel::N_POINTS;
 
     // set correspondences by minimum distance to projected model point
-    bool point_taken[PointModel::N_POINTS];
-    for (unsigned i=0; i<PointModel::N_POINTS; ++i) // NOLINT(modernize-loop-convert)
+    bool point_taken[sz];
+    for (unsigned i=0; i < sz; ++i) // NOLINT(modernize-loop-convert)
         point_taken[i] = false;
 
-    for (unsigned i=0; i<PointModel::N_POINTS; ++i)
+    for (unsigned i=0; i < sz; ++i)
     {
         f min_sdist = 0;
         unsigned min_idx = 0;
         // find closest point to projected model point i
-        for (unsigned j=0; j<PointModel::N_POINTS; ++j)
+        for (unsigned j=0; j < sz; ++j)
         {
             vec2 d = p[i]-points[j];
             f sdist = d.dot(d);
@@ -328,14 +330,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
         // CAVEAT don't change to comparison with an epsilon -sh 20160423
         if (JJ0 == II0) {
             rho = sqrt(fabs(2*IJ0));
-            theta = -M_PI/4;
+            theta = -pi/4;
             if (IJ0<0) theta *= -1;
         }
         else {
             rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
             theta = atan( -2*IJ0 / (JJ0-II0) );
             // avoid branch misprediction
-            theta += (JJ0 - II0 < 0) * M_PI;
+            theta += (JJ0 - II0 < 0) * pi;
             theta *= f(.5);
         }
 
@@ -378,7 +380,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
         // check for convergence condition
         const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2);
 
-        if (delta < constants::eps)
+        if (delta < eps)
             break;
 
         old_epsilon_1 = epsilon_1;
diff --git a/tracker-pt/pt-api.cpp b/tracker-pt/pt-api.cpp
index 128dcaea..415f1c13 100644
--- a/tracker-pt/pt-api.cpp
+++ b/tracker-pt/pt-api.cpp
@@ -10,7 +10,7 @@ double pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
     const double diag_len = std::sqrt(double(res_x*res_x + res_y*res_y));
     const double aspect_x = res_x / diag_len;
     //const double aspect_y = res_y / diag_len;
-    const double diag_fov = fov * M_PI/180;
+    const double diag_fov = fov * pi/180;
     const double fov_x = 2*std::atan(std::tan(diag_fov*.5) * aspect_x);
     //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
     const double fx = .5 / std::tan(fov_x * .5);