Merge branch 'unstable' into trackhat-ui

7 files changed, 67 insertions, 82 deletions

diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 2989c1fe..9e11b815 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -8,9 +8,7 @@
 #include "camera.h"
 #include <string>
 #include <QDebug>
-#include "opentrack/sleep.hpp"
-
-using namespace cv;
+#include "opentrack-compat/sleep.hpp"
 
 void Camera::set_device_index(int index)
 {
@@ -74,7 +72,7 @@ void CVCamera::start()
 {
     if (cap)
         delete cap;
-    cap = new VideoCapture(desired_index);
+    cap = new cv::VideoCapture(desired_index);
     _set_res();
     _set_fps();
     // extract camera info
@@ -103,11 +101,11 @@ void CVCamera::stop()
     active = false;
 }
 
-bool CVCamera::_get_frame(Mat* frame)
+bool CVCamera::_get_frame(cv::Mat* frame)
 {
     if (cap && cap->isOpened())
     {
-        Mat img;
+        cv::Mat img;
         for (int i = 0; i < 100 && !cap->read(img); i++)
             ;;
 
@@ -142,5 +140,5 @@ void CVCamera::_set_device_index()
         cap->release();
         delete cap;
     }
-    cap = new VideoCapture(desired_index);
+    cap = new cv::VideoCapture(desired_index);
 }
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 8c478824..07600646 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -13,9 +13,6 @@
 #include <QCoreApplication>
 #include "opentrack/camera-names.hpp"
 
-using namespace std;
-using namespace cv;
-
 //#define PT_PERF_LOG	//log performance
 
 //-----------------------------------------------------------------------------
@@ -114,7 +111,7 @@ void Tracker_PT::run()
             
             {
                 Affine X_CM = pose();
-                Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
+                Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
                 Affine X_GH = X_CM * X_MH;
                 cv::Vec3f p = X_GH.t; // head (center?) position in global space
                 float fx = get_focal_length();
@@ -210,17 +207,17 @@ void Tracker_PT::data(double *data)
     {
         Affine X_CM = pose();
     
-        Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
+        Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
         Affine X_GH = X_CM * X_MH;
     
-        Matx33f R = X_GH.R;
-        Vec3f   t = X_GH.t;
+        cv::Matx33f R = X_GH.R;
+        cv::Vec3f   t = X_GH.t;
     
         // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame
         // -z -> x, y -> z, x -> -y
-        Matx33f R_EG(0, 0,-1,
-                    -1, 0, 0,
-                     0, 1, 0);
+        cv::Matx33f R_EG(0, 0,-1,
+                         -1, 0, 0,
+                         0, 1, 0);
         R = R_EG * R * R_EG.t();
     
         // extract rotation angles
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index b303a913..3291c7fc 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -14,7 +14,7 @@
 #include "point_extractor.h"
 #include "point_tracker.h"
 #include "pt_video_widget.h"
-#include "opentrack/timer.hpp"
+#include "opentrack-compat/timer.hpp"
 #include "opentrack/opencv-camera-dialog.hpp"
 
 #include <QThread>
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index e81e3aa0..7174d719 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -9,13 +9,9 @@
 #include <QDebug>
 
 #ifdef DEBUG_EXTRACTION
-#   include "opentrack/timer.hpp"
+#   include "opentrack-compat/timer.hpp"
 #endif
 
-using namespace cv;
-using namespace std;
-
-
 PointExtractor::PointExtractor(){
 	//if (!AllocConsole()){}
 	//else SetConsoleTitle("debug");
@@ -23,20 +19,20 @@ PointExtractor::PointExtractor(){
 	//freopen("CON", "w", stderr);
 }
 // ----------------------------------------------------------------------------
-std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
+std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
 {
-	const int W = frame.cols;
-	const int H = frame.rows; 
+    const int W = frame.cols;
+    const int H = frame.rows;
+
+    // convert to grayscale
+    cv::Mat frame_gray;
+    cv::cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
 
-	// convert to grayscale
-	Mat frame_gray;
-    cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
-   
     int min_size = s.min_point_size;
     int max_size = s.max_point_size;
     
-	unsigned int region_size_min = 3.14*min_size*min_size/4.0;
-	unsigned int region_size_max = 3.14*max_size*max_size/4.0;
+    unsigned int region_size_min = 3.14*min_size*min_size/4.0;
+    unsigned int region_size_max = 3.14*max_size*max_size/4.0;
     
     // testing indicates threshold difference of 45 from lowest to highest
     // that's applicable to poor lighting conditions.
@@ -144,7 +140,7 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
     };
     
     // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
-	Mat frame_bin = cv::Mat::zeros(H, W, CV_8U);
+    cv::Mat frame_bin = cv::Mat::zeros(H, W, CV_8U);
     
     const int min = std::max(0, thres - diff/2);
     const int max = std::min(255, thres + diff/2);
@@ -155,8 +151,8 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
     // this code is based on OpenCV SimpleBlobDetector
     for (int i = min; i < max; i += step)
     {
-        Mat frame_bin_;
-        threshold(frame_gray, frame_bin_, i, 255, THRESH_BINARY);
+        cv::Mat frame_bin_;
+        cv::threshold(frame_gray, frame_bin_, i, 255, cv::THRESH_BINARY);
         frame_bin.setTo(170, frame_bin_);
         
         std::vector<std::vector<cv::Point>> contours;
@@ -211,19 +207,19 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
     for (auto& b : simple_blob::merge(blobs))
     {
         auto pos = b.effective_pos();
-        Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W);
+        cv::Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W);
         points.push_back(p);
     }
     
-    vector<Mat> channels_;
+    std::vector<cv::Mat> channels_;
     cv::split(frame, channels_);
     // draw output image
-    Mat frame_bin_ = frame_bin * .5;
-    vector<Mat> channels;
+    cv::Mat frame_bin_ = frame_bin * .5;
+    std::vector<cv::Mat> channels;
     channels.push_back(channels_[0] + frame_bin_);
     channels.push_back(channels_[1] - frame_bin_);
     channels.push_back(channels_[2] - frame_bin_);
-    merge(channels, frame);
+    cv::merge(channels, frame);
 
-	return points;
+    return points;
 }
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index b4283d37..cedf1979 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -13,46 +13,43 @@
 
 #include <QDebug>
 
-using namespace cv;
-using namespace std;
-
 const float PI = 3.14159265358979323846f;
 
 // ----------------------------------------------------------------------------
-static void get_row(const Matx33f& m, int i, Vec3f& v)
+static void get_row(const cv::Matx33f& m, int i, cv::Vec3f& v)
 {
 	v[0] = m(i,0);
 	v[1] = m(i,1);
 	v[2] = m(i,2);
 }
 
-static void set_row(Matx33f& m, int i, const Vec3f& v)
+static void set_row(cv::Matx33f& m, int i, const cv::Vec3f& v)
 {
 	m(i,0) = v[0];
 	m(i,1) = v[1];
 	m(i,2) = v[2];
 }
 
-static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
+static bool d_vals_sort(const std::pair<float,int> a, const std::pair<float,int> b)
 {
     return a.first < b.first;
 }
 
 void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[], cv::Vec2f d) const
 {
-	// fit line to orthographically projected points
-	vector< pair<float,int> > d_vals;
+    // fit line to orthographically projected points
+    std::vector<std::pair<float,int>> d_vals;
     // get sort indices with respect to d scalar product
-	for (unsigned i = 0; i<points.size(); ++i)
-		d_vals.push_back(pair<float, int>(d.dot(points[i]), i));
+    for (unsigned i = 0; i<points.size(); ++i)
+        d_vals.push_back(std::pair<float, int>(d.dot(points[i]), i));
 
     std::sort(d_vals.begin(),
               d_vals.end(),
               d_vals_sort
               );
 
-	for (unsigned i = 0; i<points.size(); ++i)
-		d_order[i] = d_vals[i].second;
+    for (unsigned i = 0; i<points.size(); ++i)
+        d_order[i] = d_vals[i].second;
 }
 
 
@@ -60,10 +57,10 @@ PointTracker::PointTracker() : init_phase(true)
 {
 }
 
-PointTracker::PointOrder PointTracker::find_correspondences_previous(const vector<Vec2f>& points, const PointModel& model, float f)
+PointTracker::PointOrder PointTracker::find_correspondences_previous(const std::vector<cv::Vec2f>& points, const PointModel& model, float f)
 {
     PointTracker::PointOrder p;
-    p.points[0] = project(Vec3f(0,0,0), f);
+    p.points[0] = project(cv::Vec3f(0,0,0), f);
     p.points[1] = project(model.M01, f);
     p.points[2] = project(model.M02, f);
 
@@ -79,7 +76,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vecto
             // find closest point to projected model point i
             for (int j=0; j<PointModel::N_POINTS; ++j)
             {
-                    Vec2f d = p.points[i]-points[j];
+                    cv::Vec2f d = p.points[i]-points[j];
                     float sdist = d.dot(d);
                     if (sdist < min_sdist || j==0)
                     {
@@ -99,7 +96,7 @@ PointTracker::PointOrder PointTracker::find_correspondences_previous(const vecto
     return p;
 }
 
-void PointTracker::track(const vector<Vec2f>& points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout)
+void PointTracker::track(const std::vector<cv::Vec2f>& points, const PointModel& model, float f, bool dynamic_pose, int init_phase_timeout)
 {
     PointOrder order;
 
@@ -129,9 +126,9 @@ PointTracker::PointOrder PointTracker::find_correspondences(const std::vector<cv
     model.get_d_order(points, point_d_order, d);
     // calculate d and d_order for simple freetrack-like point correspondence
     model.get_d_order(std::vector<cv::Vec2f> {
-                          Vec2f{0,0},
-                          Vec2f(model.M01[0], model.M01[1]),
-                          Vec2f(model.M02[0], model.M02[1])
+                          cv::Vec2f{0,0},
+                          cv::Vec2f(model.M01[0], model.M01[1]),
+                          cv::Vec2f(model.M02[0], model.M02[1])
                       },
                       model_d_order,
                       d);
@@ -151,10 +148,10 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 
 	// The expected rotation used for resolving the ambiguity in POSIT:
 	// In every iteration step the rotation closer to R_expected is taken 
-	Matx33f R_expected = Matx33f::eye();	
+        cv::Matx33f R_expected = cv::Matx33f::eye();
 	
 	// initial pose = last (predicted) pose
-	Vec3f k;
+        cv::Vec3f k;
         get_row(R_expected, 2, k);
         float Z0 = 1000.f;
 
@@ -163,17 +160,17 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 	float epsilon_1 = 1;
 	float epsilon_2 = 1;
 
-	Vec3f I0, J0;
-	Vec2f I0_coeff, J0_coeff;
+        cv::Vec3f I0, J0;
+        cv::Vec2f I0_coeff, J0_coeff;
 
-	Vec3f I_1, J_1, I_2, J_2;
-	Matx33f R_1, R_2;
-	Matx33f* R_current;
+        cv::Vec3f I_1, J_1, I_2, J_2;
+        cv::Matx33f R_1, R_2;
+        cv::Matx33f* R_current;
 
 	const int MAX_ITER = 100;
 	const float EPS_THRESHOLD = 1e-4;
     
-    const cv::Vec2f* order = order_.points;
+        const cv::Vec2f* order = order_.points;
 
 	int i=1;
 	for (; i<MAX_ITER; ++i)
@@ -182,10 +179,10 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 		epsilon_2 = k.dot(model.M02)/Z0;
 
 		// vector of scalar products <I0, M0i> and <J0, M0i>
-		Vec2f I0_M0i(order[1][0]*(1.0 + epsilon_1) - order[0][0], 
-			         order[2][0]*(1.0 + epsilon_2) - order[0][0]);
-		Vec2f J0_M0i(order[1][1]*(1.0 + epsilon_1) - order[0][1],
-			         order[2][1]*(1.0 + epsilon_2) - order[0][1]);
+                cv::Vec2f I0_M0i(order[1][0]*(1.0 + epsilon_1) - order[0][0],
+                                 order[2][0]*(1.0 + epsilon_2) - order[0][0]);
+                cv::Vec2f J0_M0i(order[1][1]*(1.0 + epsilon_1) - order[0][1],
+                                 order[2][1]*(1.0 + epsilon_2) - order[0][1]);
 
 		// construct projection of I, J onto M0i plane: I0 and J0
 		I0_coeff = model.P * I0_M0i;
@@ -199,7 +196,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 		float JJ0 = J0.dot(J0);
 		float rho, theta;
 		if (JJ0 == II0) {
-			rho = sqrt(abs(2*IJ0));
+			rho = std::sqrt(std::abs(2*IJ0));
 			theta = -PI/4;
 			if (IJ0<0) theta *= -1;
 		}
@@ -217,7 +214,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 		J_1 = J0 + rho*sin(theta)*model.u;
 		J_2 = J0 - rho*sin(theta)*model.u;
 
-		float norm_const = 1.0/norm(I_1); // all have the same norm
+		float norm_const = 1.0/cv::norm(I_1); // all have the same norm
 		
 		// create rotation matrices
 		I_1 *= norm_const; J_1 *= norm_const;
@@ -236,8 +233,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 
 		// pick the rotation solution closer to the expected one
 		// in simple metric d(A,B) = || I - A * B^T ||
-		float R_1_deviation = norm(Matx33f::eye() - R_expected * R_1.t());
-		float R_2_deviation = norm(Matx33f::eye() - R_expected * R_2.t());
+                float R_1_deviation = cv::norm(cv::Matx33f::eye() - R_expected * R_1.t());
+                float R_2_deviation = cv::norm(cv::Matx33f::eye() - R_expected * R_2.t());
 
 		if (R_1_deviation < R_2_deviation)
 			R_current = &R_1;
@@ -247,7 +244,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 		get_row(*R_current, 2, k);
 
 		// check for convergence condition
-		if (abs(epsilon_1 - old_epsilon_1) +  abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
+		if (std::abs(epsilon_1 - old_epsilon_1) + std::abs(epsilon_2 - old_epsilon_2) < EPS_THRESHOLD)
 			break;
 		old_epsilon_1 = epsilon_1;
 		old_epsilon_2 = epsilon_2;
@@ -259,7 +256,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
 	X_CM.t[1] = order[0][1] * Z0/focal_length;
 	X_CM.t[2] = Z0;
 
-    //qDebug() << "iter:" << i;
+        //qDebug() << "iter:" << i;
 
 	return i;
 }
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index 49ff577e..96a448de 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -15,7 +15,7 @@
 #   include <memory>
 #endif
 #include <vector>
-#include "opentrack/timer.hpp"
+#include "opentrack-compat/timer.hpp"
 #include "ftnoir_tracker_pt_settings.h"
 
 #include <QObject>
diff --git a/ftnoir_tracker_pt/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp
index 15fc5a86..9f2b90f6 100644
--- a/ftnoir_tracker_pt/pt_video_widget.cpp
+++ b/ftnoir_tracker_pt/pt_video_widget.cpp
@@ -9,9 +9,6 @@
 
 #include "pt_video_widget.h"
 
-using namespace cv;
-using namespace std;
-
 void PTVideoWidget::update_image(const cv::Mat& frame)
 {
     QMutexLocker foo(&mtx);