Fixed warnings + RANSAC confidence to double

modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst

@@ -599,7 +599,7 @@ solvePnPRansac
 ------------------
 Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
 
-.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
+.. ocv:function:: bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, double confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE )
 
 .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers
 

modules/calib3d/include/opencv2/calib3d.hpp

@@ -159,7 +159,7 @@ CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoint
                                   InputArray cameraMatrix, InputArray distCoeffs,
                                   OutputArray rvec, OutputArray tvec,
                                   bool useExtrinsicGuess = false, int iterationsCount = 100,
-                                  float reprojectionError = 8.0, float confidence = 0.99,
+                                  float reprojectionError = 8.0, double confidence = 0.99,
                                   OutputArray inliers = noArray(), int flags = ITERATIVE );
 
 //! initializes camera matrix from a few 3D points and the corresponding projections.

modules/calib3d/src/solvepnp.cpp

@@ -177,7 +177,7 @@ public:
 bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                         InputArray _cameraMatrix, InputArray _distCoeffs,
                         OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
-                        int iterationsCount, float reprojectionError, float confidence,
+                        int iterationsCount, float reprojectionError, double confidence,
                         OutputArray _inliers, int flags)
 {
 

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/CsvReader.cpp

@@ -45,9 +45,9 @@ void CsvReader::readPLY(vector<Point3f> &list_vertex, vector<vector<int> > &list
              getline(liness, z);
 
              cv::Point3f tmp_p;
-             tmp_p.x = StringToInt(x);
+             tmp_p.x = (float)StringToInt(x);
-             tmp_p.y = StringToInt(y);
+             tmp_p.y = (float)StringToInt(y);
-             tmp_p.z = StringToInt(z);
+             tmp_p.z = (float)StringToInt(z);
              list_vertex.push_back(tmp_p);
 
              count++;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Mesh.cpp

@@ -76,7 +76,7 @@ void Mesh::load(const std::string path)
   csvReader.readPLY(list_vertex_, list_triangles_);
 
   // Update mesh attributes
-  num_vertexs_ = list_vertex_.size();
+  num_vertexs_ = (int)list_vertex_.size();
-  num_triangles_ = list_triangles_.size();
+  num_triangles_ = (int)list_triangles_.size();
 
 }

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp

@@ -133,9 +133,9 @@ bool PnPProblem::estimatePose( const std::vector<cv::Point3f> &list_points3d,
 // Estimate the pose given a list of 2D/3D correspondences with RANSAC and the method to use
 
 void PnPProblem::estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, // list with model 3D coordinates
-                               const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
+                                     const std::vector<cv::Point2f> &list_points2d,     // list with scene 2D coordinates
-                               int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
+                                     int flags, cv::Mat &inliers, int iterationsCount,  // PnP method; inliers container
-                               float reprojectionError, float confidence )    // Ransac parameters
+                                     float reprojectionError, double confidence )    // Ransac parameters
 {
   cv::Mat distCoeffs = cv::Mat::zeros(4, 1, CV_64FC1);  // vector of distortion coefficients
   cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1);          // output rotation vector
@@ -187,8 +187,8 @@ cv::Point2f PnPProblem::backproject3DPoint(const cv::Point3f &point3d)
 
   // Normalization of [u v]'
   cv::Point2f point2d;
-  point2d.x = point2d_vec.at<double>(0) / point2d_vec.at<double>(2);
+  point2d.x = (float)(point2d_vec.at<double>(0) / point2d_vec.at<double>(2));
-  point2d.y = point2d_vec.at<double>(1) / point2d_vec.at<double>(2);
+  point2d.y = (float)(point2d_vec.at<double>(1) / point2d_vec.at<double>(2));
 
   return point2d;
 }

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h

@@ -30,7 +30,7 @@ public:
   bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
   void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
                            int flags, cv::Mat &inliers,
-                           int iterationsCount, float reprojectionError, float confidence );
+                           int iterationsCount, float reprojectionError, double confidence );
 
   cv::Mat get_A_matrix() const { return _A_matrix; }
   cv::Mat get_R_matrix() const { return _R_matrix; }

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

@@ -19,7 +19,7 @@
 // For text
 int fontFace = cv::FONT_ITALIC;
 double fontScale = 0.75;
-double thickness_font = 2;
+int thickness_font = 2;
 
 // For circles
 int lineType = 8;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp

@@ -49,7 +49,7 @@ bool fast_match = true;       // fastRobustMatch() or robustMatch()
 // RANSAC parameters
 int iterationsCount = 500;      // number of Ransac iterations.
 float reprojectionError = 2.0;  // maximum allowed distance to consider it an inlier.
-float confidence = 0.95;        // ransac successful confidence.
+double confidence = 0.95;        // ransac successful confidence.
 
 // Kalman Filter parameters
 int minInliersKalman = 30;    // Kalman threshold updating
@@ -287,7 +287,7 @@ int main(int argc, char *argv[])
       drawObjectMesh(frame_vis, &mesh, &pnp_detection_est, yellow); // draw estimated pose
     }
 
-    double l = 5;
+    float l = 5;
     std::vector<cv::Point2f> pose_points2d;
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(0,0,0)));  // axis center
     pose_points2d.push_back(pnp_detection_est.backproject3DPoint(cv::Point3f(l,0,0)));  // axis x
@@ -315,10 +315,10 @@ int main(int argc, char *argv[])
 
     // Draw some debug text
     int inliers_int = inliers_idx.rows;
-    int outliers_int = good_matches.size() - inliers_int;
+    int outliers_int = (int)good_matches.size() - inliers_int;
     std::string inliers_str = IntToString(inliers_int);
     std::string outliers_str = IntToString(outliers_int);
-    std::string n = IntToString(good_matches.size());
+    std::string n = IntToString((int)good_matches.size());
     std::string text = "Found " + inliers_str + " of " + n + " matches";
     std::string text2 = "Inliers: " + inliers_str + " - Outliers: " + outliers_str;
 

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

@@ -67,7 +67,7 @@ static void onMouseModelRegistration( int event, int x, int y, int, void* )
       int n_regist = registration.getNumRegist();
       int n_vertex = pts[n_regist];
 
-      cv::Point2f point_2d = cv::Point2f(x,y);
+      cv::Point2f point_2d = cv::Point2f((float)x,(float)y);
       cv::Point3f point_3d = mesh.getVertex(n_vertex-1);
 
       bool is_registrable = registration.is_registrable();
@@ -224,12 +224,12 @@ int main()
   std::vector<cv::Point2f> list_points_out = model.get_points2d_out();
 
   // Draw some debug text
-  std::string num = IntToString(list_points_in.size());
+  std::string num = IntToString((int)list_points_in.size());
   std::string text = "There are " + num + " inliers";
   drawText(img_vis, text, green);
 
   // Draw some debug text
-  num = IntToString(list_points_out.size());
+  num = IntToString((int)list_points_out.size());
   text = "There are " + num + " outliers";
   drawText2(img_vis, text, red);