tracker/pt: refactor

- separate .{cpp,hpp} for few classes
- don't include namespaces globally; harmless but looks bad
anyway
- class with all public members to struct

10 files changed, 125 insertions, 74 deletions

diff --git a/tracker-pt/affine.cpp b/tracker-pt/affine.cpp
new file mode 100644
index 00000000..9018e107
--- /dev/null
+++ b/tracker-pt/affine.cpp
@@ -0,0 +1,32 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "affine.hpp"
+
+Affine::Affine() : R(mat33::eye()), t(0,0,0) {}
+
+Affine::Affine(const mat33& R, const vec3& t) : R(R),t(t) {}
+
+Affine operator*(const Affine& X, const Affine& Y)
+{
+    return Affine(X.R*Y.R, X.R*Y.t + X.t);
+}
+
+Affine operator*(const mat33& X, const Affine& Y)
+{
+    return Affine(X*Y.R, X*Y.t);
+}
+
+Affine operator*(const Affine& X, const mat33& Y)
+{
+    return Affine(X.R*Y, X.t);
+}
+
+vec3 operator*(const Affine& X, const vec3& v)
+{
+    return X.R*v + X.t;
+}
diff --git a/tracker-pt/affine.hpp b/tracker-pt/affine.hpp
new file mode 100644
index 00000000..aedb0bc8
--- /dev/null
+++ b/tracker-pt/affine.hpp
@@ -0,0 +1,29 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#pragma once
+
+#include <opencv2/core.hpp>
+#include "numeric.hpp"
+using namespace types;
+
+
+
+class Affine final
+{
+public:
+    Affine();
+    Affine(const mat33& R, const vec3& t);
+
+    mat33 R;
+    vec3 t;
+};
+
+Affine operator*(const Affine& X, const Affine& Y);
+Affine operator*(const mat33& X, const Affine& Y);
+Affine operator*(const Affine& X, const mat33& Y);
+vec3 operator*(const Affine& X, const vec3& v);
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 3b93eaf4..020694ae 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -6,12 +6,12 @@
  * copyright notice and this permission notice appear in all copies.
  */
 
-#ifndef FTNOIR_TRACKER_PT_H
-#define FTNOIR_TRACKER_PT_H
+#pragma once
 
 #include "api/plugin-api.hpp"
 #include "ftnoir_tracker_pt_settings.h"
-using namespace pt_types;
+
+#include "numeric.hpp"
 
 #include "camera.h"
 #include "point_extractor.h"
@@ -28,10 +28,12 @@ using namespace pt_types;
 #include <memory>
 #include <vector>
 
+namespace impl {
+
+using namespace types;
+
 class TrackerDialog_PT;
 
-//-----------------------------------------------------------------------------
-// Constantly processes the tracking chain in a separate thread
 class Tracker_PT : public QThread, public ITracker
 {
     Q_OBJECT
@@ -83,10 +85,13 @@ private:
     //static constexpr float deg2rad = float(M_PI/180);
 };
 
+} // ns impl
+
 class PT_metadata : public Metadata
 {
     QString name() { return QString(QCoreApplication::translate("PT_metadata", "PointTracker 1.1")); }
     QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
 };
 
-#endif // FTNOIR_TRACKER_PT_H
+using impl::Tracker_PT;
+using impl::TrackerDialog_PT;
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.cpp b/tracker-pt/ftnoir_tracker_pt_settings.cpp
index 5d4b598f..8a5257d3 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_settings.cpp
@@ -1,6 +1,6 @@
-#include "ftnoir_tracker_pt_settings.h"
+#include "numeric.hpp"
 
-namespace pt_types {
+namespace types {
 
 constexpr f constants::eps;
 
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index e742fbbc..85f4ea68 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -8,29 +8,6 @@
 
 #pragma once
 
-#include <limits>
-#include <opencv2/core.hpp>
-
-#include <cmath>
-
-namespace pt_types {
-    using f = double;
-
-    struct constants final
-    {
-        constants() = delete;
-        static constexpr f eps = std::numeric_limits<f>::epsilon();
-    };
-
-    template<int n> using vec = cv::Vec<f, n>;
-    using vec2 = vec<2>;
-    using vec3 = vec<3>;
-
-    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/numeric.hpp b/tracker-pt/numeric.hpp
new file mode 100644
index 00000000..9d37086d
--- /dev/null
+++ b/tracker-pt/numeric.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <opencv2/core.hpp>
+#include <limits>
+
+namespace types {
+    using f = double;
+
+    struct constants final
+    {
+        constants() = delete;
+        static constexpr f eps = std::numeric_limits<f>::epsilon();
+    };
+
+    template<int n> using vec = cv::Vec<f, n>;
+    using vec2 = vec<2>;
+    using vec3 = vec<3>;
+
+    template<int y, int x> using mat = cv::Matx<f, y, x>;
+    using mat33 = mat<3, 3>;
+    using mat22 = mat<2, 2>;
+}
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 3b75cb1a..a9f431d9 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -7,8 +7,6 @@
  */
 
 #include "point_extractor.h"
-#include <QDebug>
-
 #include "compat/util.hpp"
 
 #include <opencv2/videoio.hpp>
@@ -17,6 +15,10 @@
 #include <algorithm>
 #include <cinttypes>
 
+#include <QDebug>
+
+using namespace types;
+
 PointExtractor::PointExtractor()
 {
     blobs.reserve(max_blobs);
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index a0afa45d..775e4292 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -8,14 +8,17 @@
 
 #pragma once
 
+#include "ftnoir_tracker_pt_settings.h"
+#include "numeric.hpp"
+
 #include <opencv2/core.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include "ftnoir_tracker_pt_settings.h"
-
 #include <vector>
 
-using namespace pt_types;
+namespace impl {
+
+using namespace types;
 
 class PointExtractor final
 {
@@ -47,3 +50,7 @@ private:
 
     std::vector<blob> blobs;
 };
+
+} // ns impl
+
+using impl::PointExtractor;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 990ec512..7c0367d0 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -6,12 +6,10 @@
  */
 
 #include "point_tracker.h"
-
-#include "ftnoir_tracker_pt_settings.h"
-using namespace pt_types;
-
 #include "compat/nan.hpp"
 
+using namespace types;
+
 #include <vector>
 #include <algorithm>
 #include <cmath>
@@ -353,3 +351,4 @@ vec2 PointTracker::project(const vec3& v_M, f focal_length, const Affine& X_CM)
     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 79344076..0bac05ab 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -8,9 +8,9 @@
 #pragma once
 
 #include "compat/timer.hpp"
-
 #include "ftnoir_tracker_pt_settings.h"
-using namespace pt_types;
+#include "affine.hpp"
+#include "numeric.hpp"
 
 #include <opencv2/core.hpp>
 #include <cstddef>
@@ -19,44 +19,17 @@ using namespace pt_types;
 #include <array>
 #include <QObject>
 
-class Affine final
-{
-public:
-    Affine() : R(mat33::eye()), t(0,0,0) {}
-    Affine(const mat33& R, const vec3& t) : R(R),t(t) {}
-
-    mat33 R;
-    vec3 t;
-};
-
-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 mat33& X, const Affine& Y)
-{
-    return Affine(X*Y.R, X*Y.t);
-}
-
-inline Affine operator*(const Affine& X, const mat33& Y)
-{
-    return Affine(X.R*Y, X.t);
-}
-
-inline vec3 operator*(const Affine& X, const vec3& v)
-{
-    return X.R*v + X.t;
-}
+namespace impl {
 
 // ----------------------------------------------------------------------------
 // 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
+
+using namespace types;
+
+struct PointModel final
 {
-    friend class PointTracker;
-public:
     static constexpr unsigned N_POINTS = 3;
 
     vec3 M01;      // M01 in model frame
@@ -102,3 +75,8 @@ private:
     Timer t;
     bool init_phase;
 };
+
+} // ns types
+
+using impl::PointTracker;
+using impl::PointModel;