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

4 files changed, 18 insertions, 12 deletions

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)