diff options
Diffstat (limited to 'ftnoir_tracker_aruco/trans_calib.cpp')
| -rw-r--r-- | ftnoir_tracker_aruco/trans_calib.cpp | 16 |
1 files changed, 7 insertions, 9 deletions
diff --git a/ftnoir_tracker_aruco/trans_calib.cpp b/ftnoir_tracker_aruco/trans_calib.cpp index a562763a..176cf24c 100644 --- a/ftnoir_tracker_aruco/trans_calib.cpp +++ b/ftnoir_tracker_aruco/trans_calib.cpp @@ -7,8 +7,6 @@ #include "trans_calib.h" -using namespace cv; - //----------------------------------------------------------------------------- TranslationCalibrator::TranslationCalibrator() { @@ -17,13 +15,13 @@ TranslationCalibrator::TranslationCalibrator() void TranslationCalibrator::reset() { - P = Matx66f::zeros(); - y = Vec6f(0,0,0, 0,0,0); + P = cv::Matx66f::zeros(); + y = cv::Vec6f(0,0,0, 0,0,0); } -void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k) +void TranslationCalibrator::update(const cv::Matx33d& R_CM_k, const cv::Vec3d& t_CM_k) { - Matx<double, 6,3> H_k_T = Matx<double, 6,3>::zeros(); + cv::Matx<double, 6,3> H_k_T = cv::Matx<double, 6,3>::zeros(); for (int i=0; i<3; ++i) { for (int j=0; j<3; ++j) { H_k_T(i,j) = R_CM_k(j,i); @@ -37,8 +35,8 @@ void TranslationCalibrator::update(const Matx33d& R_CM_k, const Vec3d& t_CM_k) y += H_k_T * t_CM_k; } -Vec3f TranslationCalibrator::get_estimate() +cv::Vec3f TranslationCalibrator::get_estimate() { - Vec6f x = P.inv() * y; - return Vec3f(x[0], x[1], x[2]); + cv::Vec6f x = P.inv() * y; + return cv::Vec3f(x[0], x[1], x[2]); } |