fix crash due to mismatched float/double

3 files changed, 16 insertions, 13 deletions

diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp
index 263be43a..9f0fb59e 100644
--- a/FTNoIR_Tracker_PT/point_tracker.cpp
+++ b/FTNoIR_Tracker_PT/point_tracker.cpp
@@ -105,8 +105,8 @@ void PointTracker::reset()
 	dt_valid = 0;

 	reset_velocities();

     // assume identity rotation again

-    X_CM.R = cv::Matx33d::eye();

-    X_CM.t = cv::Vec3f();

+    X_CM.R = cv::Matx33f::eye();

+    X_CM.t = cv::Vec3f(0, 0, 1);

 }

 

 void PointTracker::reset_velocities()

@@ -168,7 +168,7 @@ bool PointTracker::track(const vector<Vec2f>& points, float fov, float dt, int w
 void PointTracker::predict(float dt)

 {

 	// predict with constant velocity

-    Matx33d R;

+    Matx33f R;

 	Rodrigues(dt*v_r, R);

 	X_CM.R = R*X_CM.R;

 	X_CM.t += dt * v_t;

@@ -273,7 +273,10 @@ void PointTracker::POSIT(float fov, int w, int h)
     cv::Rodrigues(rvec, rmat);

 

     // finally, find the closer solution

-    cv::Mat expected = cv::Mat(X_CM.R);

+    cv::Mat expected(3, 3, CV_64FC1);

+    for (int i = 0; i < 3; i++)

+        for (int j = 0; j < 3; j++)

+            expected.at<double>(i, j) = X_CM.R(i, j);

     cv::Mat eye = cv::Mat::eye(3, 3, CV_64FC1);

     double dev1 = norm(eye - expected * rmat.t());

     double dev2 = norm(eye - expected * rmat);

diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h
index 823d75c0..ac43489e 100644
--- a/FTNoIR_Tracker_PT/point_tracker.h
+++ b/FTNoIR_Tracker_PT/point_tracker.h
@@ -21,11 +21,11 @@
 class FrameTrafo

 {

 public:

-    FrameTrafo() : R(cv::Matx33d::eye()), t(0,0,0) {}

-    FrameTrafo(const cv::Matx33d& R, const cv::Vec3d& t) : R(R),t(t) {}

+    FrameTrafo() : R(cv::Matx33f::eye()), t(0,0,0) {}

+    FrameTrafo(const cv::Matx33f& R, const cv::Vec3f& t) : R(R),t(t) {}

 

-    cv::Matx33d R;

-    cv::Vec3d t;

+    cv::Matx33f R;

+    cv::Vec3f t;

 };

 

 inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)

@@ -33,17 +33,17 @@ inline FrameTrafo operator*(const FrameTrafo& X, const FrameTrafo& Y)
 	return FrameTrafo(X.R*Y.R, X.R*Y.t + X.t);

 }

 

-inline FrameTrafo operator*(const cv::Matx33d& X, const FrameTrafo& Y)

+inline FrameTrafo operator*(const cv::Matx33f& X, const FrameTrafo& Y)

 {

 	return FrameTrafo(X*Y.R, X*Y.t);

 }

 

-inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33d& Y)

+inline FrameTrafo operator*(const FrameTrafo& X, const cv::Matx33f& Y)

 {

 	return FrameTrafo(X.R*Y, X.t);

 }

 

-inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3d& v)

+inline cv::Vec3f operator*(const FrameTrafo& X, const cv::Vec3f& v)

 {

 	return X.R*v + X.t;

 }

diff --git a/FTNoIR_Tracker_PT/trans_calib.cpp b/FTNoIR_Tracker_PT/trans_calib.cpp
index 9b75a1b6..b2e0ead0 100644
--- a/FTNoIR_Tracker_PT/trans_calib.cpp
+++ b/FTNoIR_Tracker_PT/trans_calib.cpp
@@ -40,5 +40,5 @@ void TranslationCalibrator::update(const Matx33f& R_CM_k, const Vec3f& t_CM_k)
 Vec3f TranslationCalibrator::get_estimate()

 {

 	Vec6f x = P.inv() * y;

-	return Vec3f(-x[0], -x[1], -x[2]);

-}
\ No newline at end of file
+    return Vec3f(-x[0], -x[1], -x[2]);

+}