4 files changed, 20 insertions, 18 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index f182cacc..a6732ced 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -125,7 +125,7 @@ void Tracker::apply_inner()
     point_extractor.min_size = s.min_point_size;
     point_extractor.max_size = s.max_point_size;
     t_MH = cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z);
-    FrameTrafo X_MH(Matx33f::eye(), t_MH);
+    Affine X_MH(Matx33f::eye(), t_MH);
     qDebug()<<"Tracker::apply ends";
 }
 
@@ -160,9 +160,11 @@ void Tracker::StopTracker(bool exit)
 void Tracker::data(THeadPoseData *data)
 {
 
-    FrameTrafo X_CM = point_tracker.pose();
-    FrameTrafo X_MH(Matx33f::eye(), t_MH);
-    FrameTrafo X_GH = X_CM * X_MH;
+    Affine X_CM = point_tracker.pose();
+
+    Affine X_MH(Matx33f::eye(), t_MH);
+    Affine X_GH = X_CM * X_MH;
+
     Matx33f R = X_GH.R;
     Vec3f   t = X_GH.t;
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 4161bd48..2f922e17 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -44,7 +44,7 @@ public:
     void apply(settings& s);
     void apply_inner();
 
-    void pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
+    void pose(Affine* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
     int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
     void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
 protected:
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index ee65c81e..2bf8ba75 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -172,7 +172,7 @@ void TrackerDialog::trans_calib_step()
 {
     if (tracker)
     {
-        FrameTrafo X_CM;
+        Affine X_CM;
         tracker->pose(&X_CM);
         trans_calib.update(X_CM.R, X_CM.t);
         cv::Vec3f t_MH = trans_calib.get_estimate();
diff --git a/ftnoir_tracker_pt/point_tracker.h b/ftnoir_tracker_pt/point_tracker.h
index be9e83ad..f9e2d9b9 100644
--- a/ftnoir_tracker_pt/point_tracker.h
+++ b/ftnoir_tracker_pt/point_tracker.h
@@ -18,32 +18,32 @@
 
 // ----------------------------------------------------------------------------
 // Affine frame trafo
-class FrameTrafo
+class Affine
 {
 public:
-    FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}
-    FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
+    Affine() : R(cv::Matx33f::eye()), t(0,0,0) {}
+    Affine(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}
 
     cv::Matx33f R;
     cv::Vec3f t;
 };
 
-inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
+inline Affine operator*(const Affine& X, const Affine& Y)
 {
-    return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);
+    return Affine(X.R*Y.R, X.R*Y.t + X.t);
 }
 
-inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)
+inline Affine operator*(const cv::Matx33f& X, const Affine& Y)
 {
-    return FrameTrafo(X*Y.R, X*Y.t);
+    return Affine(X*Y.R, X*Y.t);
 }
 
-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)
+inline Affine operator*(const Affine& X, const cv::Matx33f& Y)
 {
-    return FrameTrafo(X.R*Y, X.t);
+    return Affine(X.R*Y, X.t);
 }
 
-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)
+inline cv::Vec3f operator*(const Affine& X, const cv::Vec3f& v)
 {
     return X.R*v + X.t;
 }
@@ -87,7 +87,7 @@ public:
     // f : (focal length)/(sensor width)
     // dt : time since last call
     void track(const std::vector<cv::Vec2f>& projected_points, const PointModel& model);
-    FrameTrafo pose() const { return X_CM; }
+    Affine pose() const { return X_CM; }
 private:
     // the points in model order
     typedef struct { cv::Vec2f points[PointModel::N_POINTS]; } PointOrder;
@@ -102,7 +102,7 @@ private:
     PointOrder find_correspondences(const std::vector<cv::Vec2f>& projected_points, const PointModel &model);
     int POSIT(const PointModel& point_model, const PointOrder& order);  // The POSIT algorithm, returns the number of iterations
 
-    FrameTrafo X_CM; // trafo from model to camera
+    Affine X_CM; // trafo from model to camera
 };
 
 #endif //POINTTRACKER_H