tracker/pt: get rid of pt_types class

8 files changed, 47 insertions, 23 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index eaf1de0d..fa3fbb46 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -18,6 +18,8 @@
 
 //#define PT_PERF_LOG	//log performance
 
+constexpr f Tracker_PT::pi;
+
 //-----------------------------------------------------------------------------
 Tracker_PT::Tracker_PT() :
       video_widget(nullptr),
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 29902260..047aedda 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -11,12 +11,13 @@
 
 #include "api/plugin-api.hpp"
 #include "ftnoir_tracker_pt_settings.h"
+using namespace pt_types;
+
 #include "camera.h"
 #include "point_extractor.h"
 #include "point_tracker.h"
 #include "compat/timer.hpp"
 #include "cv/video-widget.hpp"
-#include "compat/pi-constant.hpp"
 
 #include <QThread>
 #include <QMutex>
@@ -30,9 +31,9 @@ class TrackerDialog_PT;
 
 //-----------------------------------------------------------------------------
 // Constantly processes the tracking chain in a separate thread
-class Tracker_PT : public QThread, public ITracker, private pt_types
+class Tracker_PT : public QThread, public ITracker
 {
-    static constexpr double pi = OPENTRACK_PI;
+    static constexpr f pi = constants::pi;
 
     Q_OBJECT
     friend class camera_dialog;
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.cpp b/tracker-pt/ftnoir_tracker_pt_settings.cpp
new file mode 100644
index 00000000..e685960c
--- /dev/null
+++ b/tracker-pt/ftnoir_tracker_pt_settings.cpp
@@ -0,0 +1,8 @@
+#include "ftnoir_tracker_pt_settings.h"
+
+namespace pt_types {
+
+constexpr f constants::eps;
+constexpr f constants::pi;
+
+}
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index 8c86fc14..b3f9e402 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -12,12 +12,15 @@
 #include <limits>
 #include <opencv2/core.hpp>
 
-struct pt_types
-{
+namespace pt_types {
     using f = double;
 
-    static constexpr f eps = std::numeric_limits<f>::epsilon();
-    static constexpr f pi = f(OPENTRACK_PI);
+    struct constants final
+    {
+        constants() = delete;
+        static constexpr f eps = std::numeric_limits<f>::epsilon();
+        static constexpr f pi = OPENTRACK_PI;
+    };
 
     template<int n> using vec = cv::Vec<f, n>;
     using vec2 = vec<2>;
@@ -26,7 +29,7 @@ struct pt_types
     template<int y, int x> using mat = cv::Matx<f, y, x>;
     using mat33 = mat<3, 3>;
     using mat22 = mat<2, 2>;
-};
+}
 
 #include "options/options.hpp"
 using namespace options;
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 5e72c3be..6411fcef 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -19,12 +19,14 @@
 #include <algorithm>
 #include <cinttypes>
 
+constexpr double PointExtractor::pi;
+
 PointExtractor::PointExtractor()
 {
     blobs.reserve(max_blobs);
 }
 
-void PointExtractor::extract_points(cv::Mat& frame, std::vector<PointExtractor::vec2>& points)
+void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
 {
     using std::sqrt;
     using std::max;
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 0a019ec0..5ebd8056 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -13,11 +13,12 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "ftnoir_tracker_pt_settings.h"
-#include "compat/pi-constant.hpp"
 
 #include <vector>
 
-class PointExtractor final : private pt_types
+using namespace pt_types;
+
+class PointExtractor final
 {
 public:
     // extracts points from frame and draws some processing info into frame, if draw_output is set
@@ -28,7 +29,7 @@ public:
 
     settings_pt s;
 private:
-    static constexpr double pi = OPENTRACK_PI;
+    static constexpr double pi = constants::pi;
     static constexpr int max_blobs = 16;
 
     cv::Mat frame_gray;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 701c1961..96a75ea8 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -6,6 +6,10 @@
  */
 
 #include "point_tracker.h"
+
+#include "ftnoir_tracker_pt_settings.h"
+using namespace pt_types;
+
 #include "compat/nan.hpp"
 
 #include <vector>
@@ -14,9 +18,6 @@
 
 #include <QDebug>
 
-using mat33 = pt_types::mat33;
-using vec3 = pt_types::vec3;
-using f = pt_types::f;
 constexpr unsigned PointModel::N_POINTS;
 
 static void get_row(const mat33& m, int i, vec3& v)
@@ -206,6 +207,9 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
     // In every iteration step the rotation closer to R_expected is taken
     mat33 R_expected = mat33::eye();
 
+    static constexpr f pi = constants::pi;
+    static constexpr f eps = constants::eps;
+
     // initial pose = last (predicted) pose
     vec3 k;
     get_row(R_expected, 2, k);
@@ -349,7 +353,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
     return i;
 }
 
-pt_types::vec2 PointTracker::project(const vec3& v_M, f focal_length)
+vec2 PointTracker::project(const vec3& v_M, f focal_length)
 {
     vec3 v_C = X_CM * v_M;
     return vec2(focal_length*v_C[0]/v_C[2], focal_length*v_C[1]/v_C[2]);
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 6ed91069..3d2c9645 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -9,13 +9,16 @@
 #define POINTTRACKER_H
 
 #include "compat/timer.hpp"
+
 #include "ftnoir_tracker_pt_settings.h"
+using namespace pt_types;
+
 #include <opencv2/core/core.hpp>
 #include <memory>
 #include <vector>
 #include <QObject>
 
-class Affine final : private pt_types
+class Affine final
 {
 public:
     Affine() : R(mat33::eye()), t(0,0,0) {}
@@ -30,17 +33,17 @@ inline Affine operator*(const Affine& X, const Affine& Y)
     return Affine(X.R*Y.R, X.R*Y.t + X.t);
 }
 
-inline Affine operator*(const pt_types::mat33& X, const Affine& Y)
+inline Affine operator*(const mat33& X, const Affine& Y)
 {
     return Affine(X*Y.R, X*Y.t);
 }
 
-inline Affine operator*(const Affine& X, const pt_types::mat33& Y)
+inline Affine operator*(const Affine& X, const mat33& Y)
 {
     return Affine(X.R*Y, X.t);
 }
 
-inline pt_types::vec3 operator*(const Affine& X, const pt_types::vec3& v)
+inline vec3 operator*(const Affine& X, const vec3& v)
 {
     return X.R*v + X.t;
 }
@@ -49,7 +52,7 @@ inline pt_types::vec3 operator*(const Affine& X, const pt_types::vec3& v)
 // Describes a 3-point model
 // nomenclature as in
 // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointModel final : private pt_types
+class PointModel final
 {
     friend class PointTracker;
 public:
@@ -73,7 +76,7 @@ public:
 // Tracks a 3-point model
 // implementing the POSIT algorithm for coplanar points as presented in
 // [Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis: "Iterative Pose Estimation Using Coplanar Feature Points"]
-class PointTracker final : private pt_types
+class PointTracker final
 {
 public:
     PointTracker();
@@ -82,7 +85,7 @@ public:
     // dt : time since last call
     void track(const std::vector<vec2>& projected_points, const PointModel& model, f focal_length, bool dynamic_pose, int init_phase_timeout, int w, int h);
     Affine pose() { return X_CM; }
-    vec2 project(const vec3& v_M, PointTracker::f focal_length);
+    vec2 project(const vec3& v_M, f focal_length);
 
 private:
     // the points in model order