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DeeJanuzandClaude Opus 5.5
3e3d31c728
trackd/ becomes track/, and the calibration helper the Python tools import moves from the prototype's folder into tools/. The model development tools (nettest and the scripts that compare it with the Python models or cut int8 calibration crops) stay in frame-hands with the prototype they need. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
23 lines
971 B
C++
23 lines
971 B
C++
// Small vector helpers for the tracker.
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#pragma once
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#include <array>
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#include <cmath>
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using V2 = std::array<double, 2>;
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using V3 = std::array<double, 3>;
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inline V3 operator+(V3 a, V3 b) { return {a[0] + b[0], a[1] + b[1], a[2] + b[2]}; }
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inline V3 operator-(V3 a, V3 b) { return {a[0] - b[0], a[1] - b[1], a[2] - b[2]}; }
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inline V3 operator*(V3 a, double s) { return {a[0] * s, a[1] * s, a[2] * s}; }
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inline double dot(V3 a, V3 b) { return a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; }
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inline double norm(V3 a) { return std::sqrt(dot(a, a)); }
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inline V3 unit(V3 a) { double n = norm(a); return n > 0 ? a * (1 / n) : a; }
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inline V2 operator+(V2 a, V2 b) { return {a[0] + b[0], a[1] + b[1]}; }
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inline V2 operator-(V2 a, V2 b) { return {a[0] - b[0], a[1] - b[1]}; }
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inline V2 operator*(V2 a, double s) { return {a[0] * s, a[1] * s}; }
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inline double norm(V2 a) { return std::hypot(a[0], a[1]); }
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inline double wrap_angle(double a) { return std::remainder(a, 2 * M_PI); }
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