Support explicit lexical envs. Narrow envs for tags-and-calibration

Another 5ms performance improvement, I think?

1 files changed, 7 insertions, 3 deletions

diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk
index dd0622be..497d5ecd 100644
--- a/virtual-programs/tags-and-calibration.folk
+++ b/virtual-programs/tags-and-calibration.folk
@@ -74,9 +74,9 @@ proc ::projectorToCamera {projectorPoint} {
 When tag /tag/ has center /c/ size /size/ {
      Claim tag $tag is a tag
 
-     lassign [cameraToProjector $c] px py
+     lassign [::cameraToProjector $c] px py
      Claim $tag is a rectangle with x [expr $px-20] y [expr $py-10] width [expr $size*2] height [expr $size*2]
-}
+} with environment {}
 
 When tag /tag/ is a tag {
      puts "Added tag $tag"
@@ -91,7 +91,7 @@ When tag /tag/ is a tag {
 
 
 When tag /tag/ has corners /corners/ {
-	set tagcorners [lmap p $corners {cameraToProjector $p}]
+	set tagcorners [lmap p $corners {::cameraToProjector $p}]
 	foreach tagcorner $tagcorners { Display::text fb {*}$tagcorner 10 "$tag" }
 	set tagbottom [sub [lindex $tagcorners 1] [lindex $tagcorners 0]]
 	set tagright [sub [lindex $tagcorners 2] [lindex $tagcorners 1]]
@@ -105,4 +105,8 @@ When tag /tag/ has corners /corners/ {
 	lappend edges [list [expr {[llength $corners] - 1}] 0]
 	set region [list $corners $edges [::tcl::mathfunc::atan2 {*}$tagright]] 
 	Claim $tag has region $region
+} with environment {
+    %matmul ::math::linearalgebra::matmul
+    %sub ::math::linearalgebra::sub
+    %add ::math::linearalgebra::add
 }