Merge pull request #23186 from savuor:warnings_3d

MSVC warnings fixed in 3d module

modules/3d/perf/perf_tsdf.cpp

@@ -535,7 +535,7 @@ protected:
         TestBase::SetUp();
 
         auto p = GetParam();
-        gpu = std::get<0>(std::get<0>(p));
+        gpu = (std::get<0>(std::get<0>(p)) == PlatformType::GPU);
         volumeType = std::get<1>(std::get<0>(p));
 
         testSrcType = std::get<1>(p);

modules/3d/src/rgbd/odometry_functions.cpp

@@ -95,7 +95,7 @@ static void extendPyrMaskByPyrNormals(const std::vector<UMat>& pyramidNormals,
 {
     if (!pyramidNormals.empty())
     {
-        int nLevels = pyramidNormals.size();
+        int nLevels = (int)pyramidNormals.size();
 
         for (int i = 0; i < nLevels; i++)
         {
@@ -130,7 +130,7 @@ static void buildPyramidCameraMatrix(const Matx33f& cameraMatrix, int levels, st
 
 static void preparePyramidCloud(const std::vector<UMat>& pyramidDepth, const Matx33f& cameraMatrix, std::vector<UMat>& pyramidCloud)
 {
-    int nLevels = pyramidDepth.size();
+    int nLevels = (int)pyramidDepth.size();
 
     std::vector<Matx33f> pyramidCameraMatrix;
     buildPyramidCameraMatrix(cameraMatrix, nLevels, pyramidCameraMatrix);
@@ -150,7 +150,7 @@ static void preparePyramidTexturedMask(const std::vector<UMat>& pyramid_dI_dx, c
                                        std::vector<float> minGradMagnitudes, const std::vector<UMat>& pyramidMask, double maxPointsPart,
                                        std::vector<UMat>& pyramidTexturedMask, double sobelScale)
 {
-    int nLevels = pyramid_dI_dx.size();
+    int nLevels = (int)pyramid_dI_dx.size();
 
     const float sobelScale2_inv = (float)(1. / (sobelScale * sobelScale));
     pyramidTexturedMask.resize(nLevels, UMat());
@@ -183,7 +183,7 @@ static void preparePyramidTexturedMask(const std::vector<UMat>& pyramid_dI_dx, c
 
 static void preparePyramidNormals(const UMat &normals, const std::vector<UMat> &pyramidDepth, std::vector<UMat> &pyramidNormals)
 {
-    int nLevels = pyramidDepth.size();
+    int nLevels = (int)pyramidDepth.size();
 
     buildPyramid(normals, pyramidNormals, nLevels - 1);
     // renormalize normals
@@ -210,7 +210,7 @@ static void preparePyramidNormals(const UMat &normals, const std::vector<UMat> &
 static void preparePyramidNormalsMask(const std::vector<UMat> &pyramidNormals, const std::vector<UMat> &pyramidMask, double maxPointsPart,
                                       std::vector<UMat> &pyramidNormalsMask)
 {
-    int nLevels = pyramidNormals.size();
+    int nLevels = (int)pyramidNormals.size();
     pyramidNormalsMask.resize(nLevels, UMat());
     for (int i = 0; i < nLevels; i++)
     {
@@ -328,7 +328,7 @@ static void prepareRGBFrameDst(OdometryFrame& frame, OdometrySettings settings)
     std::vector<float> minGradientMagnitudes;
     settings.getMinGradientMagnitudes(minGradientMagnitudes);
 
-    int nLevels = ipyramids.size();
+    int nLevels = (int)ipyramids.size();
     dxpyramids.resize(nLevels, UMat());
     dypyramids.resize(nLevels, UMat());
     int sobelSize = settings.getSobelSize();
@@ -375,7 +375,7 @@ static void prepareICPFrameBase(OdometryFrame& frame, OdometrySettings settings)
     std::vector<int> iterCounts;
     settings.getIterCounts(iterCounts);
 
-    int maxLevel = iterCounts.size() - 1;
+    int maxLevel = (int)iterCounts.size() - 1;
     std::vector<UMat>& dpyramids = frame.impl->pyramids[OdometryFramePyramidType::PYR_DEPTH];
     if (dpyramids.empty())
         preparePyramidDepth(scaledDepth, dpyramids, maxLevel);
@@ -400,7 +400,7 @@ static void prepareICPFrameSrc(OdometryFrame& frame, OdometrySettings settings)
     settings.getIterCounts(iterCounts);
     std::vector<UMat>& mpyramids = frame.impl->pyramids[OdometryFramePyramidType::PYR_MASK];
     if (mpyramids.empty())
-        preparePyramidMask(mask, dpyramids, iterCounts.size(), settings.getMinDepth(), settings.getMaxDepth(), mpyramids);
+        preparePyramidMask(mask, dpyramids, (int)iterCounts.size(), settings.getMinDepth(), settings.getMaxDepth(), mpyramids);
 }
 
 
@@ -452,7 +452,7 @@ static void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings,
     {
         std::vector<int> iterCounts;
         settings.getIterCounts(iterCounts);
-        preparePyramidMask(mask, dpyramids, iterCounts.size(), settings.getMinDepth(), settings.getMaxDepth(), mpyramids);
+        preparePyramidMask(mask, dpyramids, (int)iterCounts.size(), settings.getMinDepth(), settings.getMaxDepth(), mpyramids);
         extendPyrMaskByPyrNormals(npyramids, mpyramids);
     }
 
@@ -842,7 +842,7 @@ void calcRgbdLsmMatrices(const Mat& cloud0, const Mat& Rt,
         double w_sobelScale = w * sobelScaleIn;
 
         const Vec4f& p0 = cloud0.at<Vec4f>(v0, u0);
-        Point3f tp0 = rtmat * Point3f(p0[0], p0[1], p0[2]);
+        Point3d tp0 = rtmat * Point3d(p0[0], p0[1], p0[2]);
 
         rgbdCoeffsFunc(transformType,
                        A_ptr,
@@ -928,7 +928,7 @@ void calcICPLsmMatrices(const Mat& cloud0, const Mat& Rt,
         Vec4f p1 = cloud1.at<Vec4f>(v1, u1);
 
         icpCoeffsFunc(transformType,
-                      A_ptr, tps0_ptr[correspIndex], Point3f(p1[0], p1[1], p1[2]), Vec3f(n4[0], n4[1], n4[2]) * w);
+                      A_ptr, tps0_ptr[correspIndex], Point3d(p1[0], p1[1], p1[2]), Vec3d(n4[0], n4[1], n4[2]) * w);
         for (int y = 0; y < transformDim; y++)
         {
             double* AtA_ptr = AtA.ptr<double>(y);

modules/3d/src/rgbd/odometry_functions.hpp

@@ -32,7 +32,7 @@ static inline int getTransformDim(OdometryTransformType transformType)
 
 
 static inline
-Vec6d calcRgbdEquationCoeffs(double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
+Vec6d calcRgbdEquationCoeffs(double dIdx, double dIdy, const Point3d& p3d, double fx, double fy)
 {
     double invz = 1. / p3d.z,
            v0 = dIdx * fx * invz,
@@ -45,7 +45,7 @@ Vec6d calcRgbdEquationCoeffs(double dIdx, double dIdy, const Point3f& p3d, doubl
 }
 
 static inline
-Vec3d calcRgbdEquationCoeffsRotation(double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
+Vec3d calcRgbdEquationCoeffsRotation(double dIdx, double dIdy, const Point3d& p3d, double fx, double fy)
 {
     double invz = 1. / p3d.z,
            v0 = dIdx * fx * invz,
@@ -59,7 +59,7 @@ Vec3d calcRgbdEquationCoeffsRotation(double dIdx, double dIdy, const Point3f& p3
 }
 
 static inline
-Vec3d calcRgbdEquationCoeffsTranslation(double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
+Vec3d calcRgbdEquationCoeffsTranslation(double dIdx, double dIdy, const Point3d& p3d, double fx, double fy)
 {
     double invz = 1. / p3d.z,
            v0 = dIdx * fx * invz,
@@ -70,7 +70,7 @@ Vec3d calcRgbdEquationCoeffsTranslation(double dIdx, double dIdy, const Point3f&
 }
 
 static inline void rgbdCoeffsFunc(OdometryTransformType transformType,
-                                  double* C, double dIdx, double dIdy, const Point3f& p3d, double fx, double fy)
+                                  double* C, double dIdx, double dIdy, const Point3d& p3d, double fx, double fy)
 {
     int dim = getTransformDim(transformType);
     Vec6d ret;
@@ -102,7 +102,7 @@ static inline void rgbdCoeffsFunc(OdometryTransformType transformType,
 
 
 static inline
-Vec6d calcICPEquationCoeffs(const Point3f& psrc, const Vec3f& ndst)
+Vec6d calcICPEquationCoeffs(const Point3d& psrc, const Vec3d& ndst)
 {
     Point3d pxv = psrc.cross(Point3d(ndst));
 
@@ -110,7 +110,7 @@ Vec6d calcICPEquationCoeffs(const Point3f& psrc, const Vec3f& ndst)
 }
 
 static inline
-Vec3d calcICPEquationCoeffsRotation(const Point3f& psrc, const Vec3f& ndst)
+Vec3d calcICPEquationCoeffsRotation(const Point3d& psrc, const Vec3d& ndst)
 {
     Point3d pxv = psrc.cross(Point3d(ndst));
 
@@ -118,13 +118,13 @@ Vec3d calcICPEquationCoeffsRotation(const Point3f& psrc, const Vec3f& ndst)
 }
 
 static inline
-Vec3d calcICPEquationCoeffsTranslation( const Point3f& /*p0*/, const Vec3f& ndst)
+Vec3d calcICPEquationCoeffsTranslation( const Point3d& /*p0*/, const Vec3d& ndst)
 {
     return Vec3d(ndst);
 }
 
 static inline
-void icpCoeffsFunc(OdometryTransformType transformType, double* C, const Point3f& p0, const Point3f& /*p1*/, const Vec3f& n1)
+void icpCoeffsFunc(OdometryTransformType transformType, double* C, const Point3d& p0, const Point3d& /*p1*/, const Vec3d& n1)
 {
     int dim = getTransformDim(transformType);
     Vec6d ret;

modules/3d/src/rgbd/volume_impl.cpp

@@ -449,7 +449,7 @@ void HashTsdfVolume::getBoundingBox(OutputArray boundingBox, int precision) cons
             std::vector<Point3f> pts;
             for (Vec3i idx : vi)
             {
-                Point3f base = Point3f(idx[0], idx[1], idx[2]) * side;
+                Point3f base = Point3f((float)idx[0], (float)idx[1], (float)idx[2]) * side;
                 pts.push_back(base);
                 pts.push_back(base + Point3f(side, 0, 0));
                 pts.push_back(base + Point3f(0, side, 0));

modules/3d/test/test_odometry.cpp

@@ -316,7 +316,7 @@ void OdometryTest::prepareFrameCheck()
 
     std::vector<Mat> gtPyrDepth, gtPyrMask;
     //TODO: this depth calculation would become incorrect when we implement bilateral filtering, fixit
-    buildPyramid(gtDepth, gtPyrDepth, nlevels - 1);
+    buildPyramid(gtDepth, gtPyrDepth, (int)nlevels - 1);
     for (const auto& gd : gtPyrDepth)
     {
         Mat pm = (gd > ods.getMinDepth()) & (gd < ods.getMaxDepth());
@@ -354,7 +354,7 @@ void OdometryTest::prepareFrameCheck()
     if (otype == OdometryType::RGB || otype == OdometryType::RGB_DEPTH)
     {
         std::vector<Mat> gtPyrImage;
-        buildPyramid(gtGray, gtPyrImage, nlevels - 1);
+        buildPyramid(gtGray, gtPyrImage, (int)nlevels - 1);
 
         for (size_t i = 0; i < nlevels; i++)
         {
@@ -389,7 +389,7 @@ void OdometryTest::prepareFrameCheck()
         Mat normals;
         odf.getNormals(normals);
         std::vector<Mat> gtPyrNormals;
-        buildPyramid(normals, gtPyrNormals, nlevels - 1);
+        buildPyramid(normals, gtPyrNormals, (int)nlevels - 1);
         for (size_t i = 0; i < nlevels; i++)
         {
             Mat gtNormal = gtPyrNormals[i];

modules/3d/test/test_tsdf.cpp

@@ -886,7 +886,7 @@ protected:
     void SetUp() override
     {
         auto p = GetParam();
-        gpu = std::get<0>(std::get<0>(p));
+        gpu = (std::get<0>(std::get<0>(p)) == PlatformType::GPU);
         volumeType = std::get<1>(std::get<0>(p));
 
         testSrcType = std::get<1>(p);
@@ -1161,7 +1161,7 @@ class StaticVolumeBoundingBox : public ::testing::TestWithParam<PlatformVolumeTy
 TEST_P(StaticVolumeBoundingBox, staticBoundingBox)
 {
     auto p = GetParam();
-    bool gpu = bool(std::get<0>(p));
+    bool gpu = (std::get<0>(p) == PlatformType::GPU);
     VolumeType volumeType = std::get<1>(p);
 
     OpenCLStatusRevert oclStatus;
@@ -1183,7 +1183,7 @@ class ReproduceVolPoseRotTest : public ::testing::TestWithParam<PlatformTypeEnum
 
 TEST_P(ReproduceVolPoseRotTest, reproduce_volPoseRot)
 {
-    bool gpu = bool(GetParam());
+    bool gpu = (GetParam() == PlatformType::GPU);
 
     OpenCLStatusRevert oclStatus;
 
@@ -1208,8 +1208,8 @@ class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<P
 TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
 {
     auto p = GetParam();
-    bool gpu = bool(std::get<0>(p));
+    bool gpu = (std::get<0>(p) == PlatformType::GPU);
-    bool enableGrowth = bool(std::get<1>(p));
+    bool enableGrowth = (std::get<1>(p) == Growth::ON);
 
     OpenCLStatusRevert oclStatus;