Merge branch 'unstable' into trackhat-ui

1 files changed, 7 insertions, 10 deletions

diff --git a/facetracknoir/trans_calib.cpp b/facetracknoir/trans_calib.cpp
index 2994eb48..a1a4b641 100644
--- a/facetracknoir/trans_calib.cpp
+++ b/facetracknoir/trans_calib.cpp
@@ -7,9 +7,6 @@
 
 #include "trans_calib.h"
 
-using namespace cv;
-
-//-----------------------------------------------------------------------------
 TranslationCalibrator::TranslationCalibrator()
 {
 	reset();
@@ -17,13 +14,13 @@ TranslationCalibrator::TranslationCalibrator()
 
 void TranslationCalibrator::reset()
 {
-	P = Matx66f::zeros();
-	y = Vec6f(0,0,0, 0,0,0);
+    P = cv::Matx66f::zeros();
+    y = cv::Vec6f(0,0,0, 0,0,0);
 }
 
-void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
+void TranslationCalibrator::update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k)
 {
-	Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros();
+    cv::Matx<float, 6,3> H_k_T = cv::Matx<float, 6,3>::zeros();
 	for (int i=0; i<3; ++i) {
 		for (int j=0; j<3; ++j) {
 			H_k_T(i,j) = R_CM_k(j,i);
@@ -37,8 +34,8 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
 	y += H_k_T * t_CM_k;
 }
 
-Vec3f TranslationCalibrator::get_estimate()
+cv::Vec3f TranslationCalibrator::get_estimate()
 {
-	Vec6f x = P.inv() * y;
-	return Vec3f(-x[0], -x[1], -x[2]);
+    cv::Vec6f x = P.inv() * y;
+    return cv::Vec3f(-x[0], -x[1], -x[2]);
 }