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-rw-r--r--compat/pi-constant.hpp3
-rw-r--r--logic/simple-mat.cpp1
-rw-r--r--logic/tracker.cpp3
-rw-r--r--logic/tracker.h7
-rw-r--r--pose-widget/glwidget.cpp3
-rw-r--r--proto-ft/ftnoir_protocol_ft.cpp6
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp6
-rw-r--r--tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp3
-rw-r--r--tracker-hydra/ftnoir_tracker_hydra.cpp3
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp4
-rw-r--r--tracker-pt/ftnoir_tracker_pt.h6
-rw-r--r--tracker-pt/ftnoir_tracker_pt_settings.cpp1
-rw-r--r--tracker-pt/ftnoir_tracker_pt_settings.h4
-rw-r--r--tracker-pt/point_extractor.cpp4
-rw-r--r--tracker-pt/point_extractor.h1
-rw-r--r--tracker-pt/point_tracker.cpp9
-rw-r--r--tracker-rift-025/ftnoir_tracker_rift_025.cpp3
-rw-r--r--tracker-rift-042/ftnoir_tracker_rift_042.cpp3
-rw-r--r--tracker-rift-080/ftnoir_tracker_rift_080.cpp4
-rw-r--r--tracker-test/test.cpp7
-rw-r--r--tracker-test/test.h8
21 files changed, 34 insertions, 55 deletions
diff --git a/compat/pi-constant.hpp b/compat/pi-constant.hpp
deleted file mode 100644
index 52b98a7f..00000000
--- a/compat/pi-constant.hpp
+++ /dev/null
@@ -1,3 +0,0 @@
-#pragma once
-
-#define OPENTRACK_PI 3.14159265358979323846
diff --git a/logic/simple-mat.cpp b/logic/simple-mat.cpp
index 24a2d69e..57571f9e 100644
--- a/logic/simple-mat.cpp
+++ b/logic/simple-mat.cpp
@@ -1,5 +1,4 @@
#include "simple-mat.hpp"
-#include "compat/pi-constant.hpp"
#include <cmath>
namespace euler {
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index 3a8df56e..f404e8e0 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -24,6 +24,9 @@
# include <windows.h>
#endif
+constexpr double Tracker::r2d;
+constexpr double Tracker::d2r;
+
Tracker::Tracker(Mappings &m, SelectedLibraries &libs, TrackLogger &logger) :
m(m),
libs(libs),
diff --git a/logic/tracker.h b/logic/tracker.h
index 9c100ea7..1546d910 100644
--- a/logic/tracker.h
+++ b/logic/tracker.h
@@ -10,7 +10,6 @@
#include <vector>
-#include "compat/pi-constant.hpp"
#include "compat/timer.hpp"
#include "api/plugin-support.hpp"
#include "mappings.hpp"
@@ -26,6 +25,7 @@
#include <QThread>
#include <atomic>
+#include <cmath>
#include "export.hpp"
@@ -121,9 +121,8 @@ private:
void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output, bool rz);
void run() override;
- static constexpr double pi = OPENTRACK_PI;
- static constexpr double r2d = 180. / OPENTRACK_PI;
- static constexpr double d2r = OPENTRACK_PI / 180.;
+ static constexpr double r2d = 180. / M_PI;
+ static constexpr double d2r = M_PI / 180.;
// note: float exponent base is 2
static constexpr double c_mult = 4;
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index a2a76726..4b5e9731 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -7,7 +7,6 @@
#include "glwidget.h"
#include "api/is-window-visible.hpp"
-#include "compat/pi-constant.hpp"
#include <cmath>
#include <algorithm>
#include <QPainter>
@@ -52,7 +51,7 @@ void GLWidget::rotateBy_real(double xAngle, double yAngle, double zAngle, double
using std::sin;
using std::cos;
- static constexpr double d2r = OPENTRACK_PI / 180;
+ static constexpr double d2r = M_PI / 180;
translation = vec3(x, y, z);
diff --git a/proto-ft/ftnoir_protocol_ft.cpp b/proto-ft/ftnoir_protocol_ft.cpp
index 6a2d1cb2..8ac3ba75 100644
--- a/proto-ft/ftnoir_protocol_ft.cpp
+++ b/proto-ft/ftnoir_protocol_ft.cpp
@@ -9,7 +9,8 @@
#include "ftnoir_protocol_ft.h"
#include "csv/csv.h"
#include "opentrack-library-path.h"
-#include "compat/pi-constant.hpp"
+
+#include <cmath>
check_for_first_run FTNoIR_Protocol::runonce_check = check_for_first_run();
@@ -96,8 +97,7 @@ void FTNoIR_Protocol::pose(const double* headpose)
float FTNoIR_Protocol::degrees_to_rads(double degrees)
{
- static constexpr double pi = OPENTRACK_PI;
- return float(degrees*pi/180);
+ return float(degrees*M_PI/180);
}
void FTNoIR_Protocol::start_tirviews()
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 81a2e176..18e6a9bf 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -9,7 +9,6 @@
#include "api/plugin-api.hpp"
#include "compat/camera-names.hpp"
#include "compat/sleep.hpp"
-#include "compat/pi-constant.hpp"
#include "cv/video-property-page.hpp"
#include <opencv2/core.hpp>
@@ -89,7 +88,7 @@ void Tracker::start_tracker(QFrame* videoframe)
layout = layout_;
}
-#define HT_PI OPENTRACK_PI
+#define HT_PI M_PI
void Tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
{
@@ -186,9 +185,8 @@ bool Tracker::open_camera()
void Tracker::set_intrinsics()
{
- static constexpr double pi = OPENTRACK_PI;
const int w = grayscale.cols, h = grayscale.rows;
- const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
+ const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w));
const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h));
const double focal_length_w = .5 * w / tan(.5 * fov_w);
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
index 800428aa..d6d53803 100644
--- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
+++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp
@@ -1,6 +1,5 @@
#include "ftnoir_tracker_freepie-udp.h"
#include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
#include <cinttypes>
#include <algorithm>
@@ -90,7 +89,7 @@ void TrackerImpl::run() {
};
int indices[] = { s.add_yaw, s.add_pitch, s.add_roll };
QMutexLocker foo(&mtx);
- static constexpr double r2d = 180 / OPENTRACK_PI;
+ static constexpr double r2d = 180 / M_PI;
for (int i = 0; i < 3; i++)
{
int val = 0;
diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
index 6b52153f..809f2fba 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -1,7 +1,6 @@
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_hydra.h"
#include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
#include <cstdio>
#include <cmath>
#ifdef _WIN32
@@ -39,7 +38,7 @@ void Hydra_Tracker::data(double *data)
data[TX] = double(acd.controllers[0].pos[0])/50;
data[TY] = double(acd.controllers[0].pos[1])/50;
data[TZ] = double(acd.controllers[0].pos[2])/50;
- static constexpr double r2d = 180/OPENTRACK_PI;
+ static constexpr double r2d = 180/M_PI;
data[Yaw] = double(ypr[0]) * r2d;
data[Pitch] = double(ypr[1]) * r2d;
data[Roll] = double(ypr[2]) * r2d;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 20327020..ce19d592 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -18,8 +18,6 @@
//#define PT_PERF_LOG //log performance
-constexpr f Tracker_PT::pi;
-
//-----------------------------------------------------------------------------
Tracker_PT::Tracker_PT() :
video_widget(nullptr),
@@ -72,7 +70,7 @@ bool Tracker_PT::get_focal_length(f& ret)
const int w = info.res_x, h = info.res_y;
const double diag = sqrt(1. + h/(double)w * h/(double)w);
- const double diag_fov = static_cast<int>(s.fov) * pi / 180.;
+ const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
const double fov = 2.*atan(tan(diag_fov/2.0)/diag);
ret = .5 / tan(.5 * fov);
return true;
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 047aedda..513c9b2c 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -33,8 +33,6 @@ class TrackerDialog_PT;
// Constantly processes the tracking chain in a separate thread
class Tracker_PT : public QThread, public ITracker
{
- static constexpr f pi = constants::pi;
-
Q_OBJECT
friend class camera_dialog;
friend class TrackerDialog_PT;
@@ -80,8 +78,8 @@ private:
volatile unsigned char commands;
volatile bool ever_success;
- static constexpr f rad2deg = f(180/OPENTRACK_PI);
- //static constexpr float deg2rad = float(OPENTRACK_PI/180);
+ static constexpr f rad2deg = f(180/M_PI);
+ //static constexpr float deg2rad = float(M_PI/180);
};
class TrackerDll : public Metadata
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.cpp b/tracker-pt/ftnoir_tracker_pt_settings.cpp
index e685960c..5d4b598f 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_settings.cpp
@@ -3,6 +3,5 @@
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 b3f9e402..e742fbbc 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -8,10 +8,11 @@
#pragma once
-#include "compat/pi-constant.hpp"
#include <limits>
#include <opencv2/core.hpp>
+#include <cmath>
+
namespace pt_types {
using f = double;
@@ -19,7 +20,6 @@ namespace pt_types {
{
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>;
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 6411fcef..0fd177e0 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -19,8 +19,6 @@
#include <algorithm>
#include <cinttypes>
-constexpr double PointExtractor::pi;
-
PointExtractor::PointExtractor()
{
blobs.reserve(max_blobs);
@@ -132,7 +130,7 @@ void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
}
if (m00 > 0)
{
- const double radius = sqrt(cnt / pi);
+ const double radius = sqrt(cnt / M_PI);
if (radius > region_size_max || radius < region_size_min)
continue;
const double norm = double(m00);
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 5ebd8056..9ac2d695 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -29,7 +29,6 @@ public:
settings_pt s;
private:
- 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 4c7ca4be..24edca45 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -207,9 +207,6 @@ 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);
@@ -263,14 +260,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
// CAVEAT don't change to comparison with an epsilon -sh 20160423
if (JJ0 == II0) {
rho = sqrt(fabs(2*IJ0));
- theta = -pi/4;
+ theta = -M_PI/4;
if (IJ0<0) theta *= -1;
}
else {
rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 ));
theta = atan( -2*IJ0 / (JJ0-II0) );
// avoid branch misprediction
- theta += (JJ0 - II0 < 0) * pi;
+ theta += (JJ0 - II0 < 0) * M_PI;
theta *= f(.5);
}
@@ -313,7 +310,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, f foc
// check for convergence condition
const f delta = fabs(epsilon_1 - old_epsilon_1) + fabs(epsilon_2 - old_epsilon_2);
- if (!(delta > eps))
+ if (!(delta > constants::eps))
break;
old_epsilon_1 = epsilon_1;
diff --git a/tracker-rift-025/ftnoir_tracker_rift_025.cpp b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
index 51eed855..dcb97fc5 100644
--- a/tracker-rift-025/ftnoir_tracker_rift_025.cpp
+++ b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
@@ -1,7 +1,6 @@
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift_025.h"
#include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
#include <OVR.h>
#include <cstdio>
#include <cmath>
@@ -85,7 +84,7 @@ void Rift_Tracker::data(double *data)
old_yaw = yaw_;
}
- static constexpr double r2d = 180 / OPENTRACK_PI;
+ static constexpr double r2d = 180 / M_PI;
data[Yaw] = yaw_ * r2d;
data[Pitch] = double(pitch) * r2d;
diff --git a/tracker-rift-042/ftnoir_tracker_rift_042.cpp b/tracker-rift-042/ftnoir_tracker_rift_042.cpp
index 6107dc8d..c868eee8 100644
--- a/tracker-rift-042/ftnoir_tracker_rift_042.cpp
+++ b/tracker-rift-042/ftnoir_tracker_rift_042.cpp
@@ -1,7 +1,6 @@
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift_042.h"
#include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
#include <QString>
@@ -68,7 +67,7 @@ void Rift_Tracker::data(double *data)
yaw_ += s.constant_drift;
old_yaw = yaw_;
}
- static constexpr double d2r = 180 / OPENTRACK_PI;
+ static constexpr double d2r = 180 / M_PI;
data[Yaw] = yaw_ * -d2r;
data[Pitch] = double(pitch) * d2r;
data[Roll] = double(roll) * d2r;
diff --git a/tracker-rift-080/ftnoir_tracker_rift_080.cpp b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
index f8091613..8522a540 100644
--- a/tracker-rift-080/ftnoir_tracker_rift_080.cpp
+++ b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
@@ -1,7 +1,6 @@
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift_080.h"
#include "api/plugin-api.hpp"
-#include "compat/pi-constant.hpp"
#include <QString>
@@ -10,6 +9,7 @@
#include <OVR_CAPI_0_8_0.h>
#include <cstdio>
+#include <cmath>
using namespace OVR;
@@ -79,7 +79,7 @@ void Rift_Tracker::data(double *data)
yaw_ += s.constant_drift;
old_yaw = yaw_;
}
- static constexpr double d2r = 180 / OPENTRACK_PI;
+ static constexpr double d2r = 180 / M_PI;
data[Yaw] = yaw_ * -d2r;
data[Pitch] = double(pitch) * d2r;
data[Roll] = double(roll) * d2r;
diff --git a/tracker-test/test.cpp b/tracker-test/test.cpp
index 3e0db547..9ffdd366 100644
--- a/tracker-test/test.cpp
+++ b/tracker-test/test.cpp
@@ -56,17 +56,16 @@ void FTNoIR_Tracker::data(double *data)
#endif
for (int i = 0; i < 6; i++)
{
- double x = fmod(last_x[i] + incr[i] * d2r * dt,
- 2 * pi);
+ double x = fmod(last_x[i] + incr[i] * d2r * dt, 2 * M_PI);
last_x[i] = x;
if (i >= 3)
{
#ifdef DISCONTINUITY
if (x > pi + pi/2)
- x -= pi;
+ x -= M_PI;
else if (x > pi/2 && x < pi)
- x += pi;
+ x += M_PI;
#endif
data[i] = sin(x) * 180;
diff --git a/tracker-test/test.h b/tracker-test/test.h
index 786d7705..acaee67d 100644
--- a/tracker-test/test.h
+++ b/tracker-test/test.h
@@ -2,7 +2,8 @@
#include "ui_test.h"
#include "api/plugin-api.hpp"
#include "compat/timer.hpp"
-#include "compat/pi-constant.hpp"
+
+#include <cmath>
class FTNoIR_Tracker : public ITracker
{
@@ -13,9 +14,8 @@ public:
void data(double *data) override;
private:
- static constexpr double pi = OPENTRACK_PI;
- static constexpr double r2d = 180 / pi;
- static constexpr double d2r = pi / 180;
+ static constexpr double r2d = 180 / M_PI;
+ static constexpr double d2r = M_PI / 180;
static const double incr[6];
double last_x[6];
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 23:14:48 +0000