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-rw-r--r--compat/euler.cpp10
-rw-r--r--compat/math-imports.hpp23
-rw-r--r--filter-accela/ftnoir_filter_accela.cpp2
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp9
-rw-r--r--tracker-pt/camera.cpp5
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp7
-rw-r--r--tracker-pt/point_extractor.cpp19
-rw-r--r--tracker-pt/point_tracker.cpp7
-rw-r--r--tracker-test/test.cpp6
9 files changed, 26 insertions, 62 deletions
diff --git a/compat/euler.cpp b/compat/euler.cpp
index f02365c9..a868478e 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -1,13 +1,11 @@
#include "euler.hpp"
+#include "math-imports.hpp"
#include <cmath>
namespace euler {
euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
{
- using std::atan2;
- using std::sqrt;
-
const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
const bool large_enough = cy > 1e-10;
if (large_enough)
@@ -31,9 +29,6 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
const double P = -input(1);
const double B = -input(2);
- using std::cos;
- using std::sin;
-
const auto c1 = cos(H);
const auto s1 = sin(H);
const auto c2 = cos(P);
@@ -63,9 +58,6 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
rmat& r_pitch,
rmat& r_yaw)
{
- using std::cos;
- using std::sin;
-
{
const double phi = -input(2);
const double sin_phi = sin(phi);
diff --git a/compat/math-imports.hpp b/compat/math-imports.hpp
index ad70f361..e4175b16 100644
--- a/compat/math-imports.hpp
+++ b/compat/math-imports.hpp
@@ -1,10 +1,12 @@
#pragma once
-#include <cmath>
-#include <cinttypes>
-
-namespace otr_math
+template <typename T>
+static inline constexpr auto signum(T x)
{
+ return (T() < x) - (x < T());
+}
+
+#include <cmath>
using std::copysign;
@@ -27,19 +29,20 @@ using std::tan;
using std::round;
using std::fmod;
+#include <cinttypes>
+
using std::uintptr_t;
using std::intptr_t;
using std::int64_t;
using std::int32_t;
+using std::int8_t;
using std::uint64_t;
using std::uint32_t;
+using std::uint8_t;
-template <typename T>
-static inline constexpr auto signum(T x)
-{
- return (T() < x) - (x < T());
-}
+#include <algorithm>
-} // ns otr_math
+using std::min;
+using std::max;
diff --git a/filter-accela/ftnoir_filter_accela.cpp b/filter-accela/ftnoir_filter_accela.cpp
index 92b9e197..5eac439a 100644
--- a/filter-accela/ftnoir_filter_accela.cpp
+++ b/filter-accela/ftnoir_filter_accela.cpp
@@ -13,8 +13,6 @@
#include "compat/math-imports.hpp"
-using namespace otr_math;
-
constexpr settings_accela::gains settings_accela::rot_gains[16];
constexpr settings_accela::gains settings_accela::pos_gains[16];
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 388eebe6..aa12175d 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -10,6 +10,7 @@
#include "cv/video-property-page.hpp"
#include "compat/camera-names.hpp"
#include "compat/sleep.hpp"
+#include "compat/math-imports.hpp"
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
@@ -224,9 +225,6 @@ cv::Point3f aruco_tracker::rotate_model(float x, float y, settings::rot mode)
if (mode)
{
- using std::cos;
- using std::sin;
-
const double theta = int(mode) * 90/4. * M_PI/180;
pt.x = x * cos(theta) - y * sin(theta);
pt.y = y * cos(theta) + x * sin(theta);
@@ -365,11 +363,6 @@ void aruco_tracker::run()
{
cv::setNumThreads(0);
- using std::fabs;
- using std::atan;
- using std::tan;
- using std::sqrt;
-
if (!open_camera())
return;
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index b68fd107..28c95bf4 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -8,6 +8,7 @@
#include "camera.h"
#include "compat/sleep.hpp"
#include "compat/camera-names.hpp"
+#include "compat/math-imports.hpp"
constexpr double Camera::dt_eps;
@@ -23,10 +24,6 @@ QString Camera::get_active_name() const
void CamInfo::get_focal_length(double& fx) const
{
- using std::tan;
- using std::atan;
- using std::sqrt;
-
const double diag_len = sqrt(double(res_x*res_x + res_y*res_y));
const double aspect_x = res_x / diag_len;
//const double aspect_y = res_y / diag_len;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index 938acc1c..83ea094c 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -8,6 +8,7 @@
#include "ftnoir_tracker_pt.h"
#include "compat/camera-names.hpp"
+#include "compat/math-imports.hpp"
#include <QHBoxLayout>
#include <cmath>
#include <QDebug>
@@ -190,12 +191,6 @@ void Tracker_PT::data(double *data)
0, 1, 0);
mat33 R = R_EG * X_GH.R * R_EG.t();
- using std::atan2;
- using std::sqrt;
- using std::atan;
- using std::fabs;
- using std::copysign;
-
// get translation(s)
const vec3& t = X_GH.t;
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index fbd84799..babba294 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -8,6 +8,7 @@
#include "point_extractor.h"
#include "compat/util.hpp"
+#include "compat/math-imports.hpp"
#include "point_tracker.h"
#include <QDebug>
@@ -20,10 +21,6 @@
#include <vector>
#include <array>
-using std::sqrt;
-using std::fmax;
-using std::min;
-
using namespace pt_extractor_impl;
/*
@@ -51,7 +48,7 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre
vec2 com(0, 0);
for (int i = 0; i < frame_gray.rows; i++)
{
- const auto frame_ptr = (const std::uint8_t*)frame_gray.ptr(i);
+ const auto frame_ptr = (const uint8_t*)frame_gray.ptr(i);
for (int j = 0; j < frame_gray.cols; j++)
{
f val = frame_ptr[j];
@@ -145,7 +142,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
contours.clear();
cv::findContours(frame_bin, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
- const unsigned cnt = std::min<unsigned>(max_blobs, contours.size());
+ const unsigned cnt = min(max_blobs, int(contours.size()));
for (unsigned k = 0; k < cnt; k++)
{
@@ -155,14 +152,12 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
cv::Moments moments = cv::moments(contours[k]);
const double area = moments.m00;
- const double radius = std::sqrt(area) / std::sqrt(M_PI);
+ const double radius = sqrt(area) / sqrt(M_PI);
- if (radius < std::fmax(2.5, region_size_min) || (radius > region_size_max))
+ if (radius < fmax(2.5, region_size_min) || (radius > region_size_max))
continue;
- cv::Rect rect = cv::boundingRect(contours[k]) & cv::Rect(0, 0, frame.cols, frame.rows);
-
- rect &= cv::Rect(0, 0, frame.cols, frame.rows); // crop at frame boundaries
+ const cv::Rect rect = cv::boundingRect(contours[k]) & cv::Rect(0, 0, frame.cols, frame.rows);
if (rect.width == 0 || rect.height == 0)
continue;
@@ -240,7 +235,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
}
#if defined DEBUG_MEANSHIFT
- meanshift_total += std::sqrt((pos_ - pos).dot(pos_ - pos));
+ meanshift_total += sqrt((pos_ - pos).dot(pos_ - pos));
#endif
b.pos[0] = pos[0] + rect.x;
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 73745d8f..dfc7a8a5 100644
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -7,6 +7,7 @@
#include "point_tracker.h"
#include "compat/nan.hpp"
+#include "compat/math-imports.hpp"
using namespace types;
@@ -280,12 +281,6 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order, f foca
static constexpr int max_iter = 100;
- using std::sqrt;
- using std::atan;
- using std::cos;
- using std::sin;
- using std::fabs;
-
int i=1;
for (; i<max_iter; ++i)
{
diff --git a/tracker-test/test.cpp b/tracker-test/test.cpp
index c0bc4ef3..86ad4495 100644
--- a/tracker-test/test.cpp
+++ b/tracker-test/test.cpp
@@ -8,6 +8,7 @@
#include "test.h"
#include "api/plugin-api.hpp"
+#include "compat/math-imports.hpp"
#include <QPushButton>
@@ -40,11 +41,6 @@ void test_tracker::start_tracker(QFrame*)
void test_tracker::data(double *data)
{
- using std::fmod;
- using std::sin;
- using std::fabs;
- using std::copysign;
-
const double dt = t.elapsed_seconds();
t.start();
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-21 10:56:19 +0000