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authorStanislaw Halik <sthalik@misaki.pl>2014-09-27 20:04:47 +0200
committerStanislaw Halik <sthalik@misaki.pl>2014-09-27 20:06:45 +0200
commit01f1a5f2b9ed1846423eee0336450f32b836536b (patch)
treebdf27366094eeca485d7ce5122db3cb097cb8ffb
parentc04f90dcc3054d296dc1f6798ccf22f71a10836b (diff)
make stuff private, not protected
clang generates warnings for unused private stuff, so use that.
-rw-r--r--facetracknoir/rotation.h60
-rw-r--r--ftnoir_tracker_aruco/trans_calib.h22
-rw-r--r--ftnoir_tracker_pt/camera.h53
-rw-r--r--ftnoir_tracker_pt/point_extractor.h26
-rw-r--r--ftnoir_tracker_pt/trans_calib.h22
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