compat/math-imports: use it

9 files changed, 26 insertions, 62 deletions

diff --git a/compat/euler.cpp b/compat/euler.cpp
index f02365c9..a868478e 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -1,13 +1,11 @@
 #include "euler.hpp"
+#include "math-imports.hpp"
 #include <cmath>
 
 namespace euler {
 
 euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
 {
-    using std::atan2;
-    using std::sqrt;
-
     const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
     const bool large_enough = cy > 1e-10;
     if (large_enough)
@@ -31,9 +29,6 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
     const double P = -input(1);
     const double B = -input(2);
 
-    using std::cos;
-    using std::sin;
-
     const auto c1 = cos(H);
     const auto s1 = sin(H);
     const auto c2 = cos(P);
@@ -63,9 +58,6 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
                                                     rmat& r_pitch,
                                                     rmat& r_yaw)
 {
-    using std::cos;
-    using std::sin;
-
     {
         const double phi = -input(2);
         const double sin_phi = sin(phi);
diff --git a/compat/math-imports.hpp b/compat/math-imports.hpp
index ad70f361..e4175b16 100644
--- a/compat/math-imports.hpp
+++ b/compat/math-imports.hpp
@@ -1,10 +1,12 @@
 #pragma once
 
-#include <cmath>
-#include <cinttypes>
-
-namespace otr_math
+template <typename T>
+static inline constexpr auto signum(T x)
 {
+    return (T() < x) - (x < T());
+}
+
+#include <cmath>
 
 using std::copysign;
 
@@ -27,19 +29,20 @@ using std::tan;
 using std::round;
 using std::fmod;
 
+#include <cinttypes>
+
 using std::uintptr_t;
 using std::intptr_t;
 
 using std::int64_t;
 using std::int32_t;
+using std::int8_t;
 
 using std::uint64_t;
 using std::uint32_t;
+using std::uint8_t;
 
-template <typename T>
-static inline constexpr auto signum(T x)
-{
-    return (T() < x) - (x < T());
-}
+#include <algorithm>
 
-} // ns otr_math
+using std::min;
+using std::max;
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 92b9e197..5eac439a 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -13,8 +13,6 @@
 
 #include "compat/math-imports.hpp"
 
-using namespace otr_math;
-
 constexpr settings_accela::gains settings_accela::rot_gains[16];
 constexpr settings_accela::gains settings_accela::pos_gains[16];
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 388eebe6..aa12175d 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -10,6 +10,7 @@
 #include "cv/video-property-page.hpp"
 #include "compat/camera-names.hpp"
 #include "compat/sleep.hpp"
+#include "compat/math-imports.hpp"
 
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
@@ -224,9 +225,6 @@ cv::Point3f aruco_tracker::rotate_model(float x, float y, settings::rot mode)
 
     if (mode)
     {
-        using std::cos;
-        using std::sin;
-
         const double theta = int(mode) * 90/4. * M_PI/180;
         pt.x = x * cos(theta) - y * sin(theta);
         pt.y = y * cos(theta) + x * sin(theta);
@@ -365,11 +363,6 @@ void aruco_tracker::run()
 {
     cv::setNumThreads(0);
 
-    using std::fabs;
-    using std::atan;
-    using std::tan;
-    using std::sqrt;
-
     if (!open_camera())
         return;
 
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index b68fd107..28c95bf4 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -8,6 +8,7 @@
 #include "camera.h"
 #include "compat/sleep.hpp"
 #include "compat/camera-names.hpp"
+#include "compat/math-imports.hpp"
 
 constexpr double Camera::dt_eps;
 
@@ -23,10 +24,6 @@ QString Camera::get_active_name() const
 
 void CamInfo::get_focal_length(double& fx) const
 {
-    using std::tan;
-    using std::atan;
-    using std::sqrt;
-
     const double diag_len = 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;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 938acc1c..83ea094c 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -8,6 +8,7 @@
 
 #include "ftnoir_tracker_pt.h"
 #include "compat/camera-names.hpp"
+#include "compat/math-imports.hpp"
 #include <QHBoxLayout>
 #include <cmath>
 #include <QDebug>
@@ -190,12 +191,6 @@ void Tracker_PT::data(double *data)
                    0, 1, 0);
         mat33 R = R_EG *  X_GH.R * R_EG.t();
 
-        using std::atan2;
-        using std::sqrt;
-        using std::atan;
-        using std::fabs;
-        using std::copysign;
-
         // get translation(s)
         const vec3& t = X_GH.t;
 
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index fbd84799..babba294 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -8,6 +8,7 @@
 
 #include "point_extractor.h"
 #include "compat/util.hpp"
+#include "compat/math-imports.hpp"
 #include "point_tracker.h"
 #include <QDebug>
 
@@ -20,10 +21,6 @@
 #include <vector>
 #include <array>
 
-using std::sqrt;
-using std::fmax;
-using std::min;
-
 using namespace pt_extractor_impl;
 
 /*
@@ -51,7 +48,7 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre
     vec2 com(0, 0);
     for (int i = 0; i < frame_gray.rows; i++)
     {
-        const auto frame_ptr = (const std::uint8_t*)frame_gray.ptr(i);
+        const auto frame_ptr = (const uint8_t*)frame_gray.ptr(i);
         for (int j = 0; j < frame_gray.cols; j++)
         {
             f val = frame_ptr[j];
@@ -145,7 +142,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
     contours.clear();
 
     cv::findContours(frame_bin, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
-    const unsigned cnt = std::min<unsigned>(max_blobs, contours.size());
+    const unsigned cnt = min(max_blobs, int(contours.size()));
 
     for (unsigned k = 0; k < cnt; k++)
     {
@@ -155,14 +152,12 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
         cv::Moments moments = cv::moments(contours[k]);
 
         const double area = moments.m00;
-        const double radius = std::sqrt(area) / std::sqrt(M_PI);
+        const double radius = sqrt(area) / sqrt(M_PI);
 
-        if (radius < std::fmax(2.5, region_size_min) || (radius > region_size_max))
+        if (radius < fmax(2.5, region_size_min) || (radius > region_size_max))
             continue;
 
-        cv::Rect rect = cv::boundingRect(contours[k]) & cv::Rect(0, 0, frame.cols, frame.rows);
-
-        rect &= cv::Rect(0, 0, frame.cols, frame.rows); // crop at frame boundaries
+        const cv::Rect rect = cv::boundingRect(contours[k]) & cv::Rect(0, 0, frame.cols, frame.rows);
 
         if (rect.width == 0 || rect.height == 0)
             continue;
@@ -240,7 +235,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
         }
 
 #if defined DEBUG_MEANSHIFT
-        meanshift_total += std::sqrt((pos_ - pos).dot(pos_ - pos));
+        meanshift_total += sqrt((pos_ - pos).dot(pos_ - pos));
 #endif
 
         b.pos[0] = pos[0] + rect.x;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 73745d8f..dfc7a8a5 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -7,6 +7,7 @@
 
 #include "point_tracker.h"
 #include "compat/nan.hpp"
+#include "compat/math-imports.hpp"
 
 using namespace types;
 
@@ -280,12 +281,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
 
     static constexpr int max_iter = 100;
 
-    using std::sqrt;
-    using std::atan;
-    using std::cos;
-    using std::sin;
-    using std::fabs;
-
     int i=1;
     for (; i<max_iter; ++i)
     {
diff --git a/tracker-test/test.cpp b/tracker-test/test.cpp
index c0bc4ef3..86ad4495 100644
--- a/tracker-test/test.cpp
+++ b/tracker-test/test.cpp
@@ -8,6 +8,7 @@
 
 #include "test.h"
 #include "api/plugin-api.hpp"
+#include "compat/math-imports.hpp"
 
 #include <QPushButton>
 
@@ -40,11 +41,6 @@ void test_tracker::start_tracker(QFrame*)
 
 void test_tracker::data(double *data)
 {
-    using std::fmod;
-    using std::sin;
-    using std::fabs;
-    using std::copysign;
-
     const double dt = t.elapsed_seconds();
     t.start();