Merge branch 'unstable' into trackhat-ui

8 files changed, 14 insertions, 19 deletions

diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp
index 70c26e55..1c3af262 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.cpp
+++ b/ftnoir_tracker_aruco/ar_video_widget.cpp
@@ -7,8 +7,6 @@
 
 #include "ar_video_widget.h"
 
-using namespace std;
-
 void ArucoVideoWidget::update_image(const cv::Mat& frame)
 {
     QMutexLocker foo(&mtx);
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 05f3e3a4..08ddd3b2 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -17,7 +17,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/videoio.hpp>
 #include "opentrack/camera-names.hpp"
-#include "opentrack/sleep.hpp"
+#include "opentrack-compat/sleep.hpp"
 
 typedef struct {
     int width;
diff --git a/ftnoir_tracker_aruco/include/board.h b/ftnoir_tracker_aruco/include/board.h
index c1d79292..ec7dd43f 100644
--- a/ftnoir_tracker_aruco/include/board.h
+++ b/ftnoir_tracker_aruco/include/board.h
@@ -32,8 +32,8 @@ or implied, of Rafael Muñoz Salinas.
 #include <vector>
 #include "exports.h"
 #include "marker.h"
-using namespace std;
 namespace aruco {
+using namespace std;
 /**
  * 3d representation of a marker
  */
diff --git a/ftnoir_tracker_aruco/include/boarddetector.h b/ftnoir_tracker_aruco/include/boarddetector.h
index a0ee2361..619b4798 100644
--- a/ftnoir_tracker_aruco/include/boarddetector.h
+++ b/ftnoir_tracker_aruco/include/boarddetector.h
@@ -32,11 +32,10 @@ or implied, of Rafael Muñoz Salinas.
 #include "board.h"
 #include "cameraparameters.h"
 #include "markerdetector.h"
-using namespace std;
 
 namespace aruco
 {
-
+using namespace std;
 /**\brief This class detects AR boards
  * Version 1.2
  * There are two modes for board detection.
diff --git a/ftnoir_tracker_aruco/include/cameraparameters.h b/ftnoir_tracker_aruco/include/cameraparameters.h
index a419afbe..083d5f96 100644
--- a/ftnoir_tracker_aruco/include/cameraparameters.h
+++ b/ftnoir_tracker_aruco/include/cameraparameters.h
@@ -30,9 +30,10 @@ or implied, of Rafael Muñoz Salinas.
 #include "exports.h"
 #include <opencv2/core/core.hpp>
 #include <string>
-using namespace std;
+
 namespace aruco
 {
+using namespace std;
 /**\brief Parameters of the camera
  */
 
diff --git a/ftnoir_tracker_aruco/include/marker.h b/ftnoir_tracker_aruco/include/marker.h
index 89961002..efc3e5fe 100644
--- a/ftnoir_tracker_aruco/include/marker.h
+++ b/ftnoir_tracker_aruco/include/marker.h
@@ -32,8 +32,8 @@ or implied, of Rafael Muñoz Salinas.
 #include <opencv2/core/core.hpp>
 #include "exports.h"
 #include "cameraparameters.h"
-using namespace std;
 namespace aruco {
+using namespace std;
 /**\brief This class represents a marker. It is a vector of the fours corners ot the marker
  *
  */
diff --git a/ftnoir_tracker_aruco/include/markerdetector.h b/ftnoir_tracker_aruco/include/markerdetector.h
index 8a351f7c..ac120b18 100644
--- a/ftnoir_tracker_aruco/include/markerdetector.h
+++ b/ftnoir_tracker_aruco/include/markerdetector.h
@@ -33,11 +33,10 @@ or implied, of Rafael Muñoz Salinas.
 #include "cameraparameters.h"
 #include "exports.h"
 #include "marker.h"
-using namespace std;
 
 namespace aruco
 {
-
+using namespace std;
 /**\brief Main class for marker detection
  *
  */
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp
index a562763a..176cf24c 100644
--- a/ftnoir_tracker_aruco/trans_calib.cpp
+++ b/ftnoir_tracker_aruco/trans_calib.cpp
@@ -7,8 +7,6 @@
 
 #include "trans_calib.h"
 
-using namespace cv;
-
 //-----------------------------------------------------------------------------
 TranslationCalibrator::TranslationCalibrator()
 {
@@ -17,13 +15,13 @@ 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 Matx33d& R_CM_k, const Vec3d& t_CM_k)
+void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k)
 {
-    Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros();
+    cv::Matx<double, 6,3> H_k_T = cv::Matx<double, 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 +35,8 @@ void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& 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]);
 }