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-rw-r--r--filter-ewma2/ftnoir_filter_ewma2.cpp2
-rw-r--r--filter-kalman/kalman.cpp2
-rw-r--r--opentrack-compat/options.cpp2
-rw-r--r--pose-widget/glwidget.cpp22
-rw-r--r--proto-fsuipc/ftnoir_protocol_fsuipc.cpp3
-rw-r--r--spline-widget/functionconfig.cpp20
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp34
-rw-r--r--tracker-pt/camera.cpp6
-rw-r--r--tracker-pt/ftnoir_tracker_pt.cpp3
-rwxr-xr-xtracker-pt/point_tracker.cpp19
-rw-r--r--tracker-pt/point_tracker.h2
-rw-r--r--tracker-rift-025/ftnoir_tracker_rift_025.cpp6
-rwxr-xr-xtracker-rift-080/ftnoir_tracker_rift_080.cpp2
13 files changed, 67 insertions, 56 deletions
diff --git a/filter-ewma2/ftnoir_filter_ewma2.cpp b/filter-ewma2/ftnoir_filter_ewma2.cpp
index c09fb912..6f9e428c 100644
--- a/filter-ewma2/ftnoir_filter_ewma2.cpp
+++ b/filter-ewma2/ftnoir_filter_ewma2.cpp
@@ -49,7 +49,7 @@ void FTNoIR_Filter::filter(const double *input, double *output)
}
}
// Get the time in seconds since last run and restart the timer.
- auto dt = timer.restart() / 1000.0f;
+ const double dt = timer.restart() / 1000;
// Calculate delta_alpha and noise_alpha from dt.
double delta_alpha = dt/(dt + delta_RC);
double noise_alpha = dt/(dt + noise_RC);
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 39a08703..0e7537d1 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -80,7 +80,7 @@ void FTNoIR_Filter::filter(const double* input, double *output)
if (!timer.isValid())
timer.start();
// Get the time in seconds since last run and restart the timer.
- auto dt = timer.restart() / 1000.0f;
+ const double dt = timer.restart() / 1000;
// Note this is a terrible way to detect when there is a new
// frame of tracker input, but it is the best we have.
bool new_input = false;
diff --git a/opentrack-compat/options.cpp b/opentrack-compat/options.cpp
index 550fec24..9dcb10ab 100644
--- a/opentrack-compat/options.cpp
+++ b/opentrack-compat/options.cpp
@@ -160,7 +160,7 @@ pbundle opt_singleton::bundle(const opt_singleton::k &key)
qDebug() << "bundle +" << key;
auto shr = std::make_shared<v>(key);
- implsgl_data[key] = tt(cnt(1), shr);
+ implsgl_data[key] = tt(1, shr);
return shr;
}
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 1b30e585..a2ed422e 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -34,13 +34,15 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
{
+ using std::sin;
+ using std::cos;
- float c1 = cos(yAngle / 57.295781);
- float s1 = sin(yAngle / 57.295781);
- float c2 = cos(xAngle / 57.295781);
- float s2 = sin(xAngle / 57.295781);
- float c3 = cos(zAngle / 57.295781);
- float s3 = sin(zAngle / 57.295781);
+ float c1 = cos(yAngle / 57.295781f);
+ float s1 = sin(yAngle / 57.295781f);
+ float c2 = cos(xAngle / 57.295781f);
+ float s2 = sin(xAngle / 57.295781f);
+ float c3 = cos(zAngle / 57.295781f);
+ float s3 = sin(zAngle / 57.295781f);
rotation = rmat(c2*c3, -c2*s3, s2,
c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1,
@@ -86,12 +88,14 @@ private:
inline GLWidget::vec3 GLWidget::normal(const vec3& p1, const vec3& p2, const vec3& p3)
{
+ using std::sqrt;
+
vec3 u = p2 - p1;
vec3 v = p3 - p1;
vec3 tmp = u.cross(v);
- num i = 1./sqrt(tmp.dot(tmp));
+ num i = 1/sqrt(tmp.dot(tmp));
return tmp * i;
}
@@ -199,7 +203,7 @@ void GLWidget::project_quad_texture() {
const unsigned char r___ = orig[orig_pos___ + 2];
const unsigned char g___ = orig[orig_pos___ + 1];
const unsigned char b___ = orig[orig_pos___ + 0];
-
+
const unsigned char a1 = orig[orig_pos + 3];
const unsigned char a2 = orig[orig_pos_ + 3];
const unsigned char a3 = orig[orig_pos__ + 3];
@@ -224,7 +228,7 @@ void GLWidget::project_quad_texture() {
GLWidget::vec2 GLWidget::project(const vec3 &point)
{
vec3 ret = rotation * point;
- num z = std::max<num>(.75, 1. + translation.z()/-60);
+ num z = std::max<num>(.75f, 1 + translation.z()/-60);
int w = width(), h = height();
num x = w * translation.x() / 2 / -40;
if (std::abs(x) > w/2)
diff --git a/proto-fsuipc/ftnoir_protocol_fsuipc.cpp b/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
index 702a92d4..91a61693 100644
--- a/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
+++ b/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
@@ -28,8 +28,7 @@ FTNoIR_Protocol::~FTNoIR_Protocol()
}
int FTNoIR_Protocol::scale2AnalogLimits( float x, float min_x, float max_x ) {
-double y;
-double local_x;
+ float y, local_x;
local_x = x;
if (local_x > max_x) {
diff --git a/spline-widget/functionconfig.cpp b/spline-widget/functionconfig.cpp
index 777b4f6f..9fb5ea38 100644
--- a/spline-widget/functionconfig.cpp
+++ b/spline-widget/functionconfig.cpp
@@ -84,8 +84,8 @@ void Map::reload() {
auto& data = cur.data;
data = std::vector<float>(value_count);
- const int mult = precision();
- const int mult_ = mult * 30;
+ const float mult = precision();
+ const float mult_ = mult * 30;
const int sz = data.size();
@@ -112,24 +112,24 @@ void Map::reload() {
const float p0_y = p0.y(), p1_y = p1.y(), p2_y = p2.y(), p3_y = p3.y();
// multiplier helps fill in all the x's needed
- const int end = std::min<int>(sz, p2.x() * mult_);
- const int start = p1.x() * mult;
+ const int end = std::min<int>(sz, p2_x * mult_);
+ const int start = p1_x * mult;
for (int j = start; j < end; j++) {
const float t = (j - start) / (float) (end - start);
const float t2 = t*t;
const float t3 = t*t*t;
- const int x = .5 * ((2. * p1_x) +
+ const int x = .5f * ((2.f * p1_x) +
(-p0_x + p2_x) * t +
- (2. * p0_x - 5. * p1_x + 4. * p2_x - p3_x) * t2 +
- (-p0_x + 3. * p1_x - 3. * p2_x + p3_x) * t3)
+ (2.f * p0_x - 5.f * p1_x + 4.f * p2_x - p3_x) * t2 +
+ (-p0_x + 3.f * p1_x - 3.f * p2_x + p3_x) * t3)
* mult;
- const float y = .5 * ((2. * p1_y) +
+ const float y = .5f * ((2.f * p1_y) +
(-p0_y + p2_y) * t +
- (2. * p0_y - 5. * p1_y + 4. * p2_y - p3_y) * t2 +
- (-p0_y + 3. * p1_y - 3. * p2_y + p3_y) * t3);
+ (2. * p0_y - 5.f * p1_y + 4.f * p2_y - p3_y) * t2 +
+ (-p0_y + 3.f * p1_y - 3.f * p2_y + p3_y) * t3);
if (x >= 0 && x < sz)
data[x] = y;
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 316c7e13..294552ea 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -216,27 +216,29 @@ void Tracker::run()
::sprintf(buf, "Hz: %d", (int)cur_fps);
cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale*2);
+ const float hx = s.headpos_x, hy = s.headpos_y, hz = s.headpos_z;
+
if (markers.size() == 1 && markers[0].size() == 4) {
const auto& m = markers.at(0);
- const float size = 40;
+ constexpr float size = 40;
cv::Mat obj_points(4,3,CV_32FC1);
const int x1=1, x2=2, x3=3, x4=0;
- obj_points.at<float>(x1,0)=-size + s.headpos_x;
- obj_points.at<float>(x1,1)=-size + s.headpos_y;
- obj_points.at<float>(x1,2)= 0 + s.headpos_z;
+ obj_points.at<float>(x1,0)=-size + hx;
+ obj_points.at<float>(x1,1)=-size + hy;
+ obj_points.at<float>(x1,2)= 0 + hz;
- obj_points.at<float>(x2,0)=size + s.headpos_x;
- obj_points.at<float>(x2,1)=-size + s.headpos_y;
- obj_points.at<float>(x2,2)= 0 + s.headpos_z;
+ obj_points.at<float>(x2,0)=size + hx;
+ obj_points.at<float>(x2,1)=-size + hy;
+ obj_points.at<float>(x2,2)= 0 + hz;
- obj_points.at<float>(x3,0)=size + s.headpos_x;
- obj_points.at<float>(x3,1)=size + s.headpos_y;
- obj_points.at<float>(x3,2)= 0 + s.headpos_z;
+ obj_points.at<float>(x3,0)=size + hx;
+ obj_points.at<float>(x3,1)=size + hy;
+ obj_points.at<float>(x3,2)= 0 + hz;
- obj_points.at<float>(x4,0)= -size + s.headpos_x;
- obj_points.at<float>(x4,1)= size + s.headpos_y;
- obj_points.at<float>(x4,2)= 0 + s.headpos_z;
+ obj_points.at<float>(x4,0)= -size + hx;
+ obj_points.at<float>(x4,1)= size + hy;
+ obj_points.at<float>(x4,2)= 0 + hz;
std::vector<cv::Point2f> img_points = m;
if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
@@ -256,9 +258,9 @@ void Tracker::run()
for (int i = 0; i < 4; i++)
{
- obj_points.at<float>(i, 0) -= s.headpos_x;
- obj_points.at<float>(i, 1) -= s.headpos_y;
- obj_points.at<float>(i, 2) -= s.headpos_z;
+ obj_points.at<float>(i, 0) -= hx;
+ obj_points.at<float>(i, 1) -= hy;
+ obj_points.at<float>(i, 2) -= hz;
}
cv::Mat rvec_, tvec_;
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 600ab26a..c995c11b 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -57,12 +57,12 @@ bool Camera::get_frame(float dt, cv::Mat* frame)
{
bool new_frame = _get_frame(frame);
// measure fps of valid frames
- const float dt_smoothing_const = 0.95;
+ constexpr float dt_smoothing_const = 0.95;
dt_valid += dt;
if (new_frame)
{
- dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
- cam_info.fps = dt_mean > 1e-3 ? 1.0 / dt_mean : 0;
+ dt_mean = dt_smoothing_const * dt_mean + (1 - dt_smoothing_const) * dt_valid;
+ cam_info.fps = dt_mean > 1e-3f ? 1 / dt_mean : 0;
dt_valid = 0;
}
else
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index c4ab5963..3415eecd 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -197,6 +197,9 @@ void Tracker_PT::data(double *data)
0, 1, 0);
R = R_EG * R * R_EG.t();
+ using std::atan2;
+ using std::sqrt;
+
// extract rotation angles
float alpha, beta, gamma;
beta = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 493f311c..c7947c98 100755
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -166,11 +166,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
cv::Matx33f R_1, R_2;
cv::Matx33f* R_current;
- const int MAX_ITER = 100;
- const float EPS_THRESHOLD = 1e-4;
+ constexpr int MAX_ITER = 100;
+ const float EPS_THRESHOLD = 1e-4f;
const cv::Vec2f* order = order_.points;
+ using std::sqrt;
+ using std::atan;
+
int i=1;
for (; i<MAX_ITER; ++i)
{
@@ -178,10 +181,10 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
epsilon_2 = k.dot(model.M02)/Z0;
// vector of scalar products <I0, M0i> and <J0, M0i>
- cv::Vec2f I0_M0i(order[1][0]*(1.0 + epsilon_1) - order[0][0],
- order[2][0]*(1.0 + epsilon_2) - order[0][0]);
- cv::Vec2f J0_M0i(order[1][1]*(1.0 + epsilon_1) - order[0][1],
- order[2][1]*(1.0 + epsilon_2) - order[0][1]);
+ cv::Vec2f I0_M0i(order[1][0]*(1 + epsilon_1) - order[0][0],
+ order[2][0]*(1 + epsilon_2) - order[0][0]);
+ cv::Vec2f J0_M0i(order[1][1]*(1 + epsilon_1) - order[0][1],
+ order[2][1]*(1 + epsilon_2) - order[0][1]);
// construct projection of I, J onto M0i plane: I0 and J0
I0_coeff = model.P * I0_M0i;
@@ -194,7 +197,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
float IJ0 = I0.dot(J0);
float JJ0 = J0.dot(J0);
float rho, theta;
- // CAVEAT don't change to comparison with a small epsilon, e.g. 1e-4. -sh 20160423
+ // CAVEAT don't change to comparison with an epsilon -sh 20160423
if (JJ0 == II0) {
rho = std::sqrt(std::abs(2*IJ0));
theta = -PI/4;
@@ -215,7 +218,7 @@ 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/cv::norm(I_1); // all have the same norm
+ float norm_const = 1/cv::norm(I_1); // all have the same norm
// create rotation matrices
I_1 *= norm_const; J_1 *= norm_const;
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 2757f22c..e70059ff 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -78,7 +78,7 @@ public:
float s11 = M01.dot(M01);
float s12 = M01.dot(M02);
float s22 = M02.dot(M02);
- P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11);
+ P = 1/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12, s11);
}
void set_model(settings_pt& s)
diff --git a/tracker-rift-025/ftnoir_tracker_rift_025.cpp b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
index 9588aaf8..4b938763 100644
--- a/tracker-rift-025/ftnoir_tracker_rift_025.cpp
+++ b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
@@ -67,9 +67,9 @@ void Rift_Tracker::data(double *data)
Quatf hmdOrient = pSFusion->GetOrientation();
double newHeadPose[6];
- float yaw = 0.0f;
- float pitch = 0.0f;
- float roll = 0.0f;
+ float yaw = 0;
+ float pitch = 0;
+ float roll = 0;
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
newHeadPose[Pitch] = pitch;
newHeadPose[Roll] = roll;
diff --git a/tracker-rift-080/ftnoir_tracker_rift_080.cpp b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
index 059f67e8..d5d6cbd6 100755
--- a/tracker-rift-080/ftnoir_tracker_rift_080.cpp
+++ b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
@@ -57,7 +57,7 @@ void Rift_Tracker::data(double *data)
yaw += s.constant_drift;
old_yaw=yaw;
}
- constexpr double d2r = 57.295781;
+ constexpr float d2r = 57.295781f;
data[Yaw] = yaw * -d2r;
data[Pitch] = pitch * d2r;
data[Roll] = roll * d2r;
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 21:19:36 +0000