diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index 07370f84..d3b43503 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -13,9 +13,6 @@ #include <QCoreApplication> #include "opentrack/camera-names.hpp" -using namespace std; -using namespace cv; - //#define PT_PERF_LOG //log performance //----------------------------------------------------------------------------- @@ -101,7 +98,7 @@ void Tracker_PT::run() { Affine X_CM = pose(); - Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below + Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below Affine X_GH = X_CM * X_MH; cv::Vec3f p = X_GH.t; // head (center?) position in global space float fx = get_focal_length(); @@ -171,17 +168,17 @@ void Tracker_PT::data(double *data) { Affine X_CM = pose(); - Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); + Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); Affine X_GH = X_CM * X_MH; - Matx33f R = X_GH.R; - Vec3f t = X_GH.t; + cv::Matx33f R = X_GH.R; + cv::Vec3f t = X_GH.t; // translate rotation matrix from opengl (G) to roll-pitch-yaw (E) frame // -z -> x, y -> z, x -> -y - Matx33f R_EG(0, 0,-1, - -1, 0, 0, - 0, 1, 0); + cv::Matx33f R_EG(0, 0,-1, + -1, 0, 0, + 0, 1, 0); R = R_EG * R * R_EG.t(); // extract rotation angles |