make stuff private, not protected

clang generates warnings for unused private stuff, so use that.

5 files changed, 92 insertions, 91 deletions

diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index d40fb6cf..5ff5ce61 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -11,40 +11,40 @@
 class RotationType {
 
 public:
-	RotationType() : a(1.0),b(0.0),c(0.0),d(0.0) {}
-	RotationType(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
-	RotationType(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
-
-	RotationType inv(){
-		return RotationType(a,-b,-c, -d);
-	}
-
-
-	// conversions
-	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-	void fromEuler(double yaw, double pitch, double roll)
-	{
-
-		double sin_phi = sin(roll/2.0);
-		double cos_phi = cos(roll/2.0);
-		double sin_the = sin(pitch/2.0);
-		double cos_the = cos(pitch/2.0);
-		double sin_psi = sin(yaw/2.0);
-		double cos_psi = cos(yaw/2.0);
-
-		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
-		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
-		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
-		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
-	}
-    
+    RotationType() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+    RotationType(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }
+    RotationType(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+
+    RotationType inv(){
+        return RotationType(a,-b,-c, -d);
+    }
+
+
+    // conversions
+    // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+    void fromEuler(double yaw, double pitch, double roll)
+    {
+
+        double sin_phi = sin(roll/2.0);
+        double cos_phi = cos(roll/2.0);
+        double sin_the = sin(pitch/2.0);
+        double cos_the = cos(pitch/2.0);
+        double sin_psi = sin(yaw/2.0);
+        double cos_psi = cos(yaw/2.0);
+
+        a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+        b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+        c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+        d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+    }
+
     void toEuler(double& yaw, double& pitch, double& roll) const
     {
         roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
         pitch = asin(2.0*(a*c - b*d));
         yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
     }
-    
+
     const RotationType operator*(const RotationType& B) const
     {
         const RotationType& A = *this;
@@ -54,6 +54,6 @@ public:
                         A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
     }
 
-protected:
-	double a,b,c,d; // quaternion coefficients
+private:
+    double a,b,c,d; // quaternion coefficients
 };
diff --git a/ftnoir_tracker_aruco/trans_calib.h b/ftnoir_tracker_aruco/trans_calib.h
index 609c9af1..5c321b2c 100644
--- a/ftnoir_tracker_aruco/trans_calib.h
+++ b/ftnoir_tracker_aruco/trans_calib.h
@@ -20,20 +20,20 @@
 class TranslationCalibrator
 {
 public:
-	TranslationCalibrator();
+    TranslationCalibrator();
 
-	// reset the calibration process
-	void reset();
+    // reset the calibration process
+    void reset();
 
-	// update the current estimate
-	void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+    // 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();
+    // 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)
+private:
+    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
+#endif //TRANSCALIB_H
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 86cafd42..2bca88a1 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -25,11 +25,11 @@ void get_camera_device_names(std::vector<std::string>& device_names);
 // ----------------------------------------------------------------------------
 struct CamInfo
 {
-	CamInfo() : res_x(0), res_y(0), fps(0) {}
+    CamInfo() : res_x(0), res_y(0), fps(0) {}
 
-	int res_x;
-	int res_y;
-	int fps;
+    int res_x;
+    int res_y;
+    int fps;
 };
 
 // ----------------------------------------------------------------------------
@@ -65,7 +65,7 @@ protected:
         virtual void _set_device_index() = 0;
         virtual void _set_fps() = 0;
         virtual void _set_res() = 0;
-
+private:
         float dt_valid;
         float dt_mean;
         int desired_index;
@@ -82,18 +82,19 @@ inline Camera::~Camera() {}
 class CVCamera : public Camera
 {
 public:
-	CVCamera() : cap(NULL) {}
-	~CVCamera() { stop(); }
+    CVCamera() : cap(NULL) {}
+    ~CVCamera() { stop(); }
 
-	void start() override;
-	void stop() override;
+    void start() override;
+    void stop() override;
 
 protected:
-	bool _get_frame(cv::Mat* frame) override;
-	void _set_fps() override;
-	void _set_res() override;
+    bool _get_frame(cv::Mat* frame) override;
+    void _set_fps() override;
+    void _set_res() override;
     void _set_device_index() override;
 
+private:
     cv::VideoCapture* cap;
 };
 #else
@@ -102,21 +103,21 @@ protected:
 class VICamera : public Camera
 {
 public:
-	VICamera();
-	~VICamera() { stop(); }
+    VICamera();
+    ~VICamera() { stop(); }
 
-	virtual void start();
-	virtual void stop();
+    virtual void start();
+    virtual void stop();
 
 protected:
-	virtual bool _get_frame(cv::Mat* frame);
-	virtual void _set_device_index();
-	virtual void _set_fps();
-	virtual void _set_res();
-
-	videoInput VI;
-	cv::Mat new_frame;
-	unsigned char* frame_buffer;
+    virtual bool _get_frame(cv::Mat* frame);
+    virtual void _set_device_index();
+    virtual void _set_fps();
+    virtual void _set_res();
+
+    videoInput VI;
+    cv::Mat new_frame;
+    unsigned char* frame_buffer;
 };
 #endif
 
@@ -128,12 +129,12 @@ enum RotationType
 };
 
 // ----------------------------------------------------------------------------
-class FrameRotation 
+class FrameRotation
 {
 public:
     RotationType rotation;
 
-	cv::Mat rotate_frame(cv::Mat frame);
+    cv::Mat rotate_frame(cv::Mat frame);
 };
 
 #endif //CAMERA_H
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 21d548af..3ef82900 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -15,21 +15,21 @@
 // Extracts points from an opencv image
 class PointExtractor
 {
-public:	
-	// extracts points from frame and draws some processing info into frame, if draw_output is set
-	// dt: time since last call in seconds
-	// WARNING: returned reference is valid as long as object
-	const std::vector<cv::Vec2f>& extract_points(cv::Mat &frame);
-	const std::vector<cv::Vec2f>& get_points() { return points; }
-	PointExtractor();
+public:
+    // extracts points from frame and draws some processing info into frame, if draw_output is set
+    // dt: time since last call in seconds
+    // WARNING: returned reference is valid as long as object
+    const std::vector<cv::Vec2f>& extract_points(cv::Mat &frame);
+    const std::vector<cv::Vec2f>& get_points() { return points; }
+    PointExtractor();
 
-	int threshold_val;
-	int threshold_secondary_val;
-	int min_size, max_size;	
+    int threshold_val;
+    int threshold_secondary_val;
+    int min_size, max_size;
 
-protected:
-	std::vector<cv::Vec2f> points;
-	cv::Mat frame_last;
+private:
+    std::vector<cv::Vec2f> points;
+    cv::Mat frame_last;
 };
 
 #endif //POINTEXTRACTOR_H
diff --git a/ftnoir_tracker_pt/trans_calib.h b/ftnoir_tracker_pt/trans_calib.h
index 609c9af1..5c321b2c 100644
--- a/ftnoir_tracker_pt/trans_calib.h
+++ b/ftnoir_tracker_pt/trans_calib.h
@@ -20,20 +20,20 @@
 class TranslationCalibrator
 {
 public:
-	TranslationCalibrator();
+    TranslationCalibrator();
 
-	// reset the calibration process
-	void reset();
+    // reset the calibration process
+    void reset();
 
-	// update the current estimate
-	void update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k);
+    // 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();
+    // 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)
+private:
+    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
+#endif //TRANSCALIB_H