many: remove unneeded implicit type conversion double <-> float

13 files changed, 67 insertions, 56 deletions

diff --git a/filter-ewma2/ftnoir_filter_ewma2.cpp b/filter-ewma2/ftnoir_filter_ewma2.cpp
index c09fb912..6f9e428c 100644
--- a/filter-ewma2/ftnoir_filter_ewma2.cpp
+++ b/filter-ewma2/ftnoir_filter_ewma2.cpp
@@ -49,7 +49,7 @@ void FTNoIR_Filter::filter(const double *input, double *output)
         }
     }
     // Get the time in seconds since last run and restart the timer.
-    auto dt = timer.restart() / 1000.0f;
+    const double dt = timer.restart() / 1000;
     // Calculate delta_alpha and noise_alpha from dt.
     double delta_alpha = dt/(dt + delta_RC);
     double noise_alpha = dt/(dt + noise_RC);
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index 39a08703..0e7537d1 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -80,7 +80,7 @@ void FTNoIR_Filter::filter(const double* input, double *output)
     if (!timer.isValid())
         timer.start();
     // Get the time in seconds since last run and restart the timer.
-    auto dt = timer.restart() / 1000.0f;
+    const double dt = timer.restart() / 1000;
     // Note this is a terrible way to detect when there is a new
     // frame of tracker input, but it is the best we have.
     bool new_input = false;
diff --git a/opentrack-compat/options.cpp b/opentrack-compat/options.cpp
index 550fec24..9dcb10ab 100644
--- a/opentrack-compat/options.cpp
+++ b/opentrack-compat/options.cpp
@@ -160,7 +160,7 @@ pbundle opt_singleton::bundle(const opt_singleton::k &key)
     qDebug() << "bundle +" << key;
 
     auto shr = std::make_shared<v>(key);
-    implsgl_data[key] = tt(cnt(1), shr);
+    implsgl_data[key] = tt(1, shr);
     return shr;
 }
 
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 1b30e585..a2ed422e 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -34,13 +34,15 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
 
 void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
 {
+    using std::sin;
+    using std::cos;
 
-    float c1 = cos(yAngle / 57.295781);
-    float s1 = sin(yAngle / 57.295781);
-    float c2 = cos(xAngle / 57.295781);
-    float s2 = sin(xAngle / 57.295781);
-    float c3 = cos(zAngle / 57.295781);
-    float s3 = sin(zAngle / 57.295781);
+    float c1 = cos(yAngle / 57.295781f);
+    float s1 = sin(yAngle / 57.295781f);
+    float c2 = cos(xAngle / 57.295781f);
+    float s2 = sin(xAngle / 57.295781f);
+    float c3 = cos(zAngle / 57.295781f);
+    float s3 = sin(zAngle / 57.295781f);
 
     rotation = rmat(c2*c3,           -c2*s3,          s2,
                     c1*s3+c3*s1*s2,  c1*c3-s1*s2*s3,  -c2*s1,
@@ -86,12 +88,14 @@ private:
 
 inline GLWidget::vec3 GLWidget::normal(const vec3& p1, const vec3& p2, const vec3& p3)
 {
+    using std::sqrt;
+
     vec3 u = p2 - p1;
     vec3 v = p3 - p1;
 
     vec3 tmp = u.cross(v);
 
-    num i = 1./sqrt(tmp.dot(tmp));
+    num i = 1/sqrt(tmp.dot(tmp));
 
     return tmp * i;
 }
@@ -199,7 +203,7 @@ void GLWidget::project_quad_texture() {
                     const unsigned char r___ = orig[orig_pos___ + 2];
                     const unsigned char g___ = orig[orig_pos___ + 1];
                     const unsigned char b___ = orig[orig_pos___ + 0];
-                    
+
                     const unsigned char a1 = orig[orig_pos + 3];
                     const unsigned char a2 = orig[orig_pos_ + 3];
                     const unsigned char a3 = orig[orig_pos__ + 3];
@@ -224,7 +228,7 @@ void GLWidget::project_quad_texture() {
 GLWidget::vec2 GLWidget::project(const vec3 &point)
 {
     vec3 ret = rotation * point;
-    num z = std::max<num>(.75, 1. + translation.z()/-60);
+    num z = std::max<num>(.75f, 1 + translation.z()/-60);
     int w = width(), h = height();
     num x = w * translation.x() / 2 / -40;
     if (std::abs(x) > w/2)
diff --git a/proto-fsuipc/ftnoir_protocol_fsuipc.cpp b/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
index 702a92d4..91a61693 100644
--- a/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
+++ b/proto-fsuipc/ftnoir_protocol_fsuipc.cpp
@@ -28,8 +28,7 @@ FTNoIR_Protocol::~FTNoIR_Protocol()
 }
 
 int FTNoIR_Protocol::scale2AnalogLimits( float x, float min_x, float max_x ) {
-double y;
-double local_x;
+    float y, local_x;
 	
 	local_x = x;
 	if (local_x > max_x) {
diff --git a/spline-widget/functionconfig.cpp b/spline-widget/functionconfig.cpp
index 777b4f6f..9fb5ea38 100644
--- a/spline-widget/functionconfig.cpp
+++ b/spline-widget/functionconfig.cpp
@@ -84,8 +84,8 @@ void Map::reload() {
         auto& data = cur.data;
 
         data = std::vector<float>(value_count);
-        const int mult = precision();
-        const int mult_ = mult * 30;
+        const float mult = precision();
+        const float mult_ = mult * 30;
         
         const int sz = data.size();
         
@@ -112,24 +112,24 @@ void Map::reload() {
             const float p0_y = p0.y(), p1_y = p1.y(), p2_y = p2.y(), p3_y = p3.y();
             
             // multiplier helps fill in all the x's needed
-            const int end = std::min<int>(sz, p2.x() * mult_);
-            const int start = p1.x() * mult;
+            const int end = std::min<int>(sz, p2_x * mult_);
+            const int start = p1_x * mult;
             
             for (int j = start; j < end; j++) {
                 const float t = (j - start) / (float) (end - start);
                 const float t2 = t*t;
                 const float t3 = t*t*t;
 
-                const int x = .5 * ((2. * p1_x) +
+                const int x = .5f * ((2.f * p1_x) +
                                     (-p0_x + p2_x) * t +
-                                    (2. * p0_x - 5. * p1_x + 4. * p2_x - p3_x) * t2 +
-                                    (-p0_x + 3. * p1_x - 3. * p2_x + p3_x) * t3)
+                                    (2.f * p0_x - 5.f * p1_x + 4.f * p2_x - p3_x) * t2 +
+                                    (-p0_x + 3.f * p1_x - 3.f * p2_x + p3_x) * t3)
                         * mult;
                 
-                const float y = .5 * ((2. * p1_y) +
+                const float y = .5f * ((2.f * p1_y) +
                                       (-p0_y + p2_y) * t +
-                                      (2. * p0_y - 5. * p1_y + 4. * p2_y - p3_y) * t2 +
-                                      (-p0_y + 3. * p1_y - 3. * p2_y + p3_y) * t3);
+                                      (2. * p0_y - 5.f * p1_y + 4.f * p2_y - p3_y) * t2 +
+                                      (-p0_y + 3.f * p1_y - 3.f * p2_y + p3_y) * t3);
                 
                 if (x >= 0 && x < sz)
                     data[x] = y;
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 316c7e13..294552ea 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -216,27 +216,29 @@ void Tracker::run()
         ::sprintf(buf, "Hz: %d", (int)cur_fps);
         cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale*2);
 
+        const float hx = s.headpos_x, hy = s.headpos_y, hz = s.headpos_z;
+
         if (markers.size() == 1 && markers[0].size() == 4) {
             const auto& m = markers.at(0);
-            const float size = 40;
+            constexpr float size = 40;
 
             cv::Mat obj_points(4,3,CV_32FC1);
             const int x1=1, x2=2, x3=3, x4=0;
-            obj_points.at<float>(x1,0)=-size + s.headpos_x;
-            obj_points.at<float>(x1,1)=-size + s.headpos_y;
-            obj_points.at<float>(x1,2)= 0 + s.headpos_z;
+            obj_points.at<float>(x1,0)=-size + hx;
+            obj_points.at<float>(x1,1)=-size + hy;
+            obj_points.at<float>(x1,2)= 0 + hz;
 
-            obj_points.at<float>(x2,0)=size + s.headpos_x;
-            obj_points.at<float>(x2,1)=-size + s.headpos_y;
-            obj_points.at<float>(x2,2)= 0 + s.headpos_z;
+            obj_points.at<float>(x2,0)=size + hx;
+            obj_points.at<float>(x2,1)=-size + hy;
+            obj_points.at<float>(x2,2)= 0 + hz;
 
-            obj_points.at<float>(x3,0)=size + s.headpos_x;
-            obj_points.at<float>(x3,1)=size + s.headpos_y;
-            obj_points.at<float>(x3,2)= 0 + s.headpos_z;
+            obj_points.at<float>(x3,0)=size + hx;
+            obj_points.at<float>(x3,1)=size + hy;
+            obj_points.at<float>(x3,2)= 0 + hz;
 
-            obj_points.at<float>(x4,0)= -size + s.headpos_x;
-            obj_points.at<float>(x4,1)= size + s.headpos_y;
-            obj_points.at<float>(x4,2)= 0 + s.headpos_z;
+            obj_points.at<float>(x4,0)= -size + hx;
+            obj_points.at<float>(x4,1)= size + hy;
+            obj_points.at<float>(x4,2)= 0 + hz;
             
             std::vector<cv::Point2f> img_points = m;
             if (!cv::solvePnP(obj_points, img_points, intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE))
@@ -256,9 +258,9 @@ void Tracker::run()
 
             for (int i = 0; i < 4; i++)
             {
-                obj_points.at<float>(i, 0) -= s.headpos_x;
-                obj_points.at<float>(i, 1) -= s.headpos_y;
-                obj_points.at<float>(i, 2) -= s.headpos_z;
+                obj_points.at<float>(i, 0) -= hx;
+                obj_points.at<float>(i, 1) -= hy;
+                obj_points.at<float>(i, 2) -= hz;
             }
 
             cv::Mat rvec_, tvec_;
diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 600ab26a..c995c11b 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -57,12 +57,12 @@ bool Camera::get_frame(float dt, cv::Mat* frame)
 {
     bool new_frame = _get_frame(frame);
     // measure fps of valid frames
-    const float dt_smoothing_const = 0.95;
+    constexpr float dt_smoothing_const = 0.95;
     dt_valid += dt;
     if (new_frame)
     {
-        dt_mean = dt_smoothing_const * dt_mean + (1.0 - dt_smoothing_const) * dt_valid;
-        cam_info.fps = dt_mean > 1e-3 ? 1.0 / dt_mean : 0;
+        dt_mean = dt_smoothing_const * dt_mean + (1 - dt_smoothing_const) * dt_valid;
+        cam_info.fps = dt_mean > 1e-3f ? 1 / dt_mean : 0;
         dt_valid = 0;
     }
     else
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index c4ab5963..3415eecd 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -197,6 +197,9 @@ void Tracker_PT::data(double *data)
                          0, 1, 0);
         R = R_EG * R * R_EG.t();
 
+        using std::atan2;
+        using std::sqrt;
+
         // extract rotation angles
         float alpha, beta, gamma;
         beta  = atan2( -R(2,0), sqrt(R(2,1)*R(2,1) + R(2,2)*R(2,2)) );
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp
index 493f311c..c7947c98 100755
--- a/tracker-pt/point_tracker.cpp
+++ b/tracker-pt/point_tracker.cpp
@@ -166,11 +166,14 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
     cv::Matx33f R_1, R_2;
     cv::Matx33f* R_current;
 
-    const int MAX_ITER = 100;
-    const float EPS_THRESHOLD = 1e-4;
+    constexpr int MAX_ITER = 100;
+    const float EPS_THRESHOLD = 1e-4f;
 
     const cv::Vec2f* order = order_.points;
 
+    using std::sqrt;
+    using std::atan;
+
     int i=1;
     for (; i<MAX_ITER; ++i)
     {
@@ -178,10 +181,10 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
         epsilon_2 = k.dot(model.M02)/Z0;
 
         // vector of scalar products <I0, M0i> and <J0, M0i>
-        cv::Vec2f I0_M0i(order[1][0]*(1.0 + epsilon_1) - order[0][0],
-                order[2][0]*(1.0 + epsilon_2) - order[0][0]);
-        cv::Vec2f J0_M0i(order[1][1]*(1.0 + epsilon_1) - order[0][1],
-                order[2][1]*(1.0 + epsilon_2) - order[0][1]);
+        cv::Vec2f I0_M0i(order[1][0]*(1 + epsilon_1) - order[0][0],
+                order[2][0]*(1 + epsilon_2) - order[0][0]);
+        cv::Vec2f J0_M0i(order[1][1]*(1 + epsilon_1) - order[0][1],
+                order[2][1]*(1 + epsilon_2) - order[0][1]);
 
         // construct projection of I, J onto M0i plane: I0 and J0
         I0_coeff = model.P * I0_M0i;
@@ -194,7 +197,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
         float IJ0 = I0.dot(J0);
         float JJ0 = J0.dot(J0);
         float rho, theta;
-        // CAVEAT don't change to comparison with a small epsilon, e.g. 1e-4. -sh 20160423
+        // CAVEAT don't change to comparison with an epsilon -sh 20160423
         if (JJ0 == II0) {
             rho = std::sqrt(std::abs(2*IJ0));
             theta = -PI/4;
@@ -215,7 +218,7 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float
         J_1 = J0 + rho*sin(theta)*model.u;
         J_2 = J0 - rho*sin(theta)*model.u;
 
-        float norm_const = 1.0/cv::norm(I_1); // all have the same norm
+        float norm_const = 1/cv::norm(I_1); // all have the same norm
 
         // create rotation matrices
         I_1 *= norm_const; J_1 *= norm_const;
diff --git a/tracker-pt/point_tracker.h b/tracker-pt/point_tracker.h
index 2757f22c..e70059ff 100644
--- a/tracker-pt/point_tracker.h
+++ b/tracker-pt/point_tracker.h
@@ -78,7 +78,7 @@ public:
         float s11 = M01.dot(M01);
         float s12 = M01.dot(M02);
         float s22 = M02.dot(M02);
-        P = 1.0/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12,  s11);
+        P = 1/(s11*s22-s12*s12) * cv::Matx22f(s22, -s12, -s12,  s11);
     }
     
     void set_model(settings_pt& s)
diff --git a/tracker-rift-025/ftnoir_tracker_rift_025.cpp b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
index 9588aaf8..4b938763 100644
--- a/tracker-rift-025/ftnoir_tracker_rift_025.cpp
+++ b/tracker-rift-025/ftnoir_tracker_rift_025.cpp
@@ -67,9 +67,9 @@ void Rift_Tracker::data(double *data)
         Quatf hmdOrient = pSFusion->GetOrientation();
         double newHeadPose[6];
 
-        float yaw = 0.0f;
-        float pitch = 0.0f;
-        float roll = 0.0f;
+        float yaw = 0;
+        float pitch = 0;
+        float roll = 0;
         hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
         newHeadPose[Pitch] = pitch;
         newHeadPose[Roll] = roll;
diff --git a/tracker-rift-080/ftnoir_tracker_rift_080.cpp b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
index 059f67e8..d5d6cbd6 100755
--- a/tracker-rift-080/ftnoir_tracker_rift_080.cpp
+++ b/tracker-rift-080/ftnoir_tracker_rift_080.cpp
@@ -57,7 +57,7 @@ void Rift_Tracker::data(double *data)
                     yaw += s.constant_drift;
                 old_yaw=yaw;
             }
-            constexpr double d2r = 57.295781;
+            constexpr float d2r = 57.295781f;
             data[Yaw] = yaw * -d2r;
             data[Pitch] = pitch * d2r;
             data[Roll] = roll * d2r;