diff options
| -rw-r--r-- | ftnoir_tracker_pt/point_tracker.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp index d7adc09c..cedf1979 100644 --- a/ftnoir_tracker_pt/point_tracker.cpp +++ b/ftnoir_tracker_pt/point_tracker.cpp @@ -196,7 +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; } @@ -214,7 +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; @@ -233,8 +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(cv::Matx33f::eye() - R_expected * R_1.t()); - float R_2_deviation = norm(cv::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; @@ -244,7 +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; |