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authorStanislaw Halik <sthalik@misaki.pl>2014-11-22 22:17:20 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-11-22 22:17:26 +0100
commitddfa1005f16b439bb2dd933bf9ee49b5870eb8c7 (patch)
treeb619094d8efa2a849be0348cb9ba7c9739e56393
parent77c279f879ba5c985bbbdb73bdcf95a7baacbd16 (diff)
pt: rename class to avoid further confusion
"FrameTrafo" isn't a word even. Rename to "Affine"
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.cpp10
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt.h2
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp2
-rw-r--r--ftnoir_tracker_pt/point_tracker.h24
4 files changed, 20 insertions, 18 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index f182cacc..a6732ced 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -125,7 +125,7 @@ void Tracker::apply_inner()
point_extractor.min_size = s.min_point_size;
point_extractor.max_size = s.max_point_size;
t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
+ Affine X_MH(Matx33f::eye(), t_MH);
qDebug()<<"Tracker::apply ends";
}
@@ -160,9 +160,11 @@ void Tracker::StopTracker(bool exit)
void Tracker::data(THeadPoseData *data)
{
- FrameTrafo X_CM = point_tracker.pose();
- FrameTrafo X_MH(Matx33f::eye(), t_MH);
- FrameTrafo X_GH = X_CM * X_MH;
+ Affine X_CM = point_tracker.pose();
+
+ Affine X_MH(Matx33f::eye(), t_MH);
+ Affine X_GH = X_CM * X_MH;
+
Matx33f R = X_GH.R;
Vec3f t = X_GH.t;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 4161bd48..2f922e17 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -44,7 +44,7 @@ public:
void apply(settings& s);
void apply_inner();
- void pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
+ void pose(Affine* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
protected:
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index ee65c81e..2bf8ba75 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -172,7 +172,7 @@ void TrackerDialog::trans_calib_step()
{
if (tracker)
{
- FrameTrafo X_CM;
+ Affine X_CM;
tracker->pose(&X_CM);
trans_calib.update(X_CM.R, X_CM.t);
cv::Vec3f t_MH = trans_calib.get_estimate();
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index be9e83ad..f9e2d9b9 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -18,32 +18,32 @@
// ----------------------------------------------------------------------------
// Affine frame trafo
-class FrameTrafo
+class Affine
{
public:
- FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
- FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
+ Affine() : R(cv::Matx33f::eye()), t(0,0,0) {}
+ Affine(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
cv::Matx33f R;
cv::Vec3f t;
};
-inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
+inline Affine operator*(const Affine& X, const Affine& Y)
{
- return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
+ return Affine(X.R*Y.R, X.R*Y.t + X.t);
}
-inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
+inline Affine operator*(const cv::Matx33f& X, const Affine& Y)
{
- return FrameTrafo(X*Y.R, X*Y.t);
+ return Affine(X*Y.R, X*Y.t);
}
-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
+inline Affine operator*(const Affine& X, const cv::Matx33f& Y)
{
- return FrameTrafo(X.R*Y, X.t);
+ return Affine(X.R*Y, X.t);
}
-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
+inline cv::Vec3f operator*(const Affine& X, const cv::Vec3f& v)
{
return X.R*v + X.t;
}
@@ -87,7 +87,7 @@ public:
// f : (focal length)/(sensor width)
// dt : time since last call
void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
- FrameTrafo pose() const { return X_CM; }
+ Affine pose() const { return X_CM; }
private:
// the points in model order
typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;
@@ -102,7 +102,7 @@ private:
PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model);
int POSIT(const PointModel& point_model, const PointOrder& order); // The POSIT algorithm, returns the number of iterations
- FrameTrafo X_CM; // trafo from model to camera
+ Affine X_CM; // trafo from model to camera
};
#endif //POINTTRACKER_H