diff options
Diffstat (limited to 'ftnoir_tracker_pt/trans_calib.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/trans_calib.cpp | 17 |
1 files changed, 7 insertions, 10 deletions
diff --git a/ftnoir_tracker_pt/trans_calib.cpp b/ftnoir_tracker_pt/trans_calib.cpp index 2994eb48..a1a4b641 100644 --- a/ftnoir_tracker_pt/trans_calib.cpp +++ b/ftnoir_tracker_pt/trans_calib.cpp @@ -7,9 +7,6 @@ #include "trans_calib.h" -using namespace cv; - -//----------------------------------------------------------------------------- TranslationCalibrator::TranslationCalibrator() { reset(); @@ -17,13 +14,13 @@ 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 Matx33f& R_CM_k, const Vec3f& t_CM_k) +void TranslationCalibrator::update(const cv::Matx33f& R_CM_k, const cv::Vec3f& t_CM_k) { - Matx<float, 6,3> H_k_T = Matx<float, 6,3>::zeros(); + cv::Matx<float, 6,3> H_k_T = cv::Matx<float, 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 +34,8 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& 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]); } |