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trying to fix MSVC compilation

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double -> float warning

fix warnings in the rest 3d module files

extra var removed

try to fix warnings
pull/22524/head
Rostislav Vasilikhin 2 years ago
parent 44d6872837
commit f92a1aa07d
5 changed files with 35 additions and 35 deletions
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  1. 8
      modules/3d/src/rgbd/normal.cpp
  2. 2
      modules/3d/src/rgbd/odometry.cpp
  3. 5
      modules/3d/src/rgbd/odometry_functions.cpp
  4. 15
      modules/calib/src/calibration.cpp
  5. 40
      modules/calib/test/test_cameracalibration.cpp

8
modules/3d/src/rgbd/normal.cpp
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@ -461,7 +461,7 @@ public:
typedef Vec<T, 3> Vec3T;
typedef Matx<T, 3, 3> Mat33T;
LINEMOD(int _rows, int _cols, int _windowSize, const Mat& _K, float _diffThr = 50.f) :
LINEMOD(int _rows, int _cols, int _windowSize, const Mat& _K, double _diffThr = 50.0) :
RgbdNormalsImpl<T>(_rows, _cols, _windowSize, _K, RgbdNormals::RGBD_NORMALS_METHOD_LINEMOD),
differenceThreshold(_diffThr)
{ }
@ -552,9 +552,9 @@ public:
Vec3T X1_minus_X, X2_minus_X;
ContainerDepth difference_threshold(differenceThreshold);
ContainerDepth difference_threshold((ContainerDepth)differenceThreshold);
//TODO: fixit, difference threshold should not depend on input type
difference_threshold *= (std::is_same<DepthDepth, ushort>::value ? 1000.f : 1.f);
difference_threshold *= (ContainerDepth)(std::is_same<DepthDepth, ushort>::value ? 1000.0 : 1.0);
normals.setTo(std::numeric_limits<DepthDepth>::quiet_NaN());
for (int y = r; y < this->rows - r - 1; ++y)
{
@ -609,7 +609,7 @@ public:
return normals;
}
float differenceThreshold;
double differenceThreshold;
};
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

2
modules/3d/src/rgbd/odometry.cpp
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@ -517,7 +517,7 @@ void warpFrame(InputArray depth, InputArray image, InputArray mask,
if (z < oldz)
{
zBuffer.at<float>(uv) = z;
zBuffer.at<float>(uv) = (float)z;
switch (imageType)
{

5
modules/3d/src/rgbd/odometry_functions.cpp
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@ -290,6 +290,7 @@ void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings)
depth.depth(),
cameraMatrix,
normalWinSize,
50.f,
normalMethod);
TMat c0;
frame.getPyramidAt(c0, OdometryFramePyramidType::PYR_CLOUD, 0);
@ -935,7 +936,7 @@ void computeCorresps(const Matx33f& _K, const Mat& rt,
_corresps.create(correspCount, 1, CV_32SC4);
Vec4i* corresps_ptr = _corresps.ptr<Vec4i>();
float* diffs_ptr;
float* diffs_ptr = nullptr;
if (method == OdometryType::RGB)
{
_diffs.create(correspCount, 1, CV_32F);
@ -944,7 +945,7 @@ void computeCorresps(const Matx33f& _K, const Mat& rt,
for (int vsrc = 0, i = 0; vsrc < corresps.rows; vsrc++)
{
const Vec2s* corresps_row = corresps.ptr<Vec2s>(vsrc);
const float* diffs_row;
const float* diffs_row = nullptr;
if (method == OdometryType::RGB)
diffs_row = diffs.ptr<float>(vsrc);
for (int usrc = 0; usrc < corresps.cols; usrc++)

15
modules/calib/src/calibration.cpp
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@ -433,8 +433,7 @@ static double calibrateCameraInternal( const Mat& objectPoints,
if (releaseObject)
JoBuf = Mat( maxPoints*2, maxPoints*3, CV_64FC1);
auto cameraCalcJErr = [matM, _m, npoints, nimages, flags, releaseObject, nparams, maxPoints, aspectRatio, NINTRINSIC,
&JeBuf, &JiBuf, &JoBuf, &errBuf, &allErrors, &perViewErr]
auto cameraCalcJErr = [&, npoints, nimages, flags, releaseObject, nparams, maxPoints, NINTRINSIC]
(InputOutputArray _param, OutputArray _JtErr, OutputArray _JtJ, double& errnorm) -> bool
{
bool optimizeObjPoints = releaseObject;
@ -659,7 +658,7 @@ static double stereoCalibrateImpl(
Matx33d A[2];
int pointsTotal = 0, maxPoints = 0, nparams;
bool recomputeIntrinsics = false;
double aspectRatio[2] = {0};
double aspectRatio[2] = {0, 0};
CV_Assert( _imagePoints1.type() == _imagePoints2.type() &&
_imagePoints1.depth() == _objectPoints.depth() );
@ -675,7 +674,8 @@ static double stereoCalibrateImpl(
pointsTotal += ni;
}
Mat objectPoints, imagePoints[2];
Mat objectPoints;
Mat imagePoints[2];
_objectPoints.convertTo(objectPoints, CV_64F);
objectPoints = objectPoints.reshape(3, 1);
@ -895,8 +895,7 @@ static double stereoCalibrateImpl(
Mat J_LRBuf( maxPoints*2, 6, CV_64F );
Mat JiBuf( maxPoints*2, NINTRINSIC, CV_64F, Scalar(0) );
auto lmcallback = [errBuf, JeBuf, J_LRBuf, JiBuf, recomputeIntrinsics, nimages, flags, aspectRatio, &A, &dk, NINTRINSIC,
_npoints, objectPoints, imagePoints, Dist, &perViewErr]
auto lmcallback = [&, recomputeIntrinsics, nimages, flags, NINTRINSIC, _npoints]
(InputOutputArray _param, OutputArray JtErr_, OutputArray JtJ_, double& errnorm)
{
Mat_<double> param_m = _param.getMat();
@ -911,7 +910,7 @@ static double stereoCalibrateImpl(
if( recomputeIntrinsics )
{
size_t idx = (nimages+1)*6;
int idx = (nimages+1)*6;
if( flags & CALIB_SAME_FOCAL_LENGTH )
{
@ -949,7 +948,7 @@ static double stereoCalibrateImpl(
{
int ni = _npoints.at<int>(i);
size_t idx = (i+1)*6;
int idx = (i+1)*6;
om[0] = Vec3d(param_m(idx + 0), param_m(idx + 1), param_m(idx + 2));
T[0] = Vec3d(param_m(idx + 3), param_m(idx + 4), param_m(idx + 5));

40
modules/calib/test/test_cameracalibration.cpp
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@ -2026,28 +2026,28 @@ TEST(Calib_StereoCalibrate, regression_22421)
fs["desiredT"] >> desiredT;
std::vector<float> obj_points = {0, 0, 0,
0.5, 0, 0,
1, 0, 0,
1.5000001, 0, 0,
2, 0, 0,
0, 0.5, 0,
0.5, 0.5, 0,
1, 0.5, 0,
1.5000001, 0.5, 0,
2, 0.5, 0,
0, 1, 0,
0.5, 1, 0,
1, 1, 0,
1.5000001, 1, 0,
2, 1, 0,
0, 1.5000001, 0,
0.5, 1.5000001, 0,
1, 1.5000001, 0,
1.5000001, 1.5000001, 0,
2, 1.5000001, 0};
0.5f, 0, 0,
1.f, 0, 0,
1.5000001f, 0, 0,
2.0f, 0, 0,
0, 0.5f, 0,
0.5f, 0.5f, 0,
1.f, 0.5, 0,
1.5000001f, 0.5f, 0,
2.f, 0.5f, 0,
0, 1.f, 0,
0.5f, 1.f, 0,
1.f, 1.f, 0,
1.5000001f, 1.f, 0,
2.f, 1.f, 0,
0, 1.5000001f, 0,
0.5f, 1.5000001f, 0,
1.f, 1.5000001f, 0,
1.5000001f, 1.5000001f, 0,
2.f, 1.5000001f, 0};
cv::Mat obj_points_mat(obj_points, true);
obj_points_mat = obj_points_mat.reshape(1, obj_points.size() / 3);
obj_points_mat = obj_points_mat.reshape(1, int(obj_points.size()) / 3);
std::vector<cv::Mat> grid_points(image_points1.size(), obj_points_mat);
cv::Mat R, T;

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