diff options
| -rw-r--r-- | tracker-easy/tracker-easy.cpp | 34 | ||||
| -rw-r--r-- | tracker-easy/tracker-easy.h | 4 |
2 files changed, 23 insertions, 15 deletions
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp index 59c01f68..31c604c9 100644 --- a/tracker-easy/tracker-easy.cpp +++ b/tracker-easy/tracker-easy.cpp @@ -23,6 +23,16 @@ #include <iostream> +#ifdef __GNUC__ +# pragma GCC diagnostic ignored "-Wsign-conversion" +# pragma GCC diagnostic ignored "-Wfloat-conversion" + +#endif + +#ifdef __clang__ +# pragma clang diagnostic ignored "-Wimplicit-float-conversion" +#endif + using namespace options; // Disable debug @@ -126,17 +136,15 @@ namespace EasyTracker /// void Tracker::CreateCameraIntrinsicsMatrices() { - // Create our camera matrix - iCameraMatrix.create(3, 3, CV_64FC1); - iCameraMatrix.setTo(cv::Scalar(0)); - iCameraMatrix.at<double>(0, 0) = iCameraInfo.fx; - iCameraMatrix.at<double>(1, 1) = iCameraInfo.fy; - iCameraMatrix.at<double>(0, 2) = iCameraInfo.P_x; - iCameraMatrix.at<double>(1, 2) = iCameraInfo.P_y; - iCameraMatrix.at<double>(2, 2) = 1; + // Create our camera matrix + iCameraMatrix(0, 0) = iCameraInfo.fx; + iCameraMatrix(1, 1) = iCameraInfo.fy; + iCameraMatrix(0, 2) = iCameraInfo.P_x; + iCameraMatrix(1, 2) = iCameraInfo.P_y; + iCameraMatrix(2, 2) = 1; // Create distortion cooefficients - iDistCoeffsMatrix = cv::Mat::zeros(8, 1, CV_64FC1); + iDistCoeffsMatrix = cv::Matx<double, 8, 1>::zeros(); // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6 // 0 - Radial first order // 1 - Radial second order @@ -147,7 +155,7 @@ namespace EasyTracker // 6 - Radial fifth order // 7 - Radial sixth order for (unsigned k = 0; k < 8; k++) - iDistCoeffsMatrix.at<double>(k, 0) = (double)iCameraInfo.dist_c[k]; + iDistCoeffsMatrix(k) = (double)iCameraInfo.dist_c[k]; } @@ -404,9 +412,9 @@ namespace EasyTracker iTrackedRects.clear(); if (iDeadzoneHalfEdge != 0) // Check if deazones are enabled { - for (const cv::Point& pt : iTrackedPoints) + for (const cv::Point2f& pt : iTrackedPoints) { - cv::Rect rect(pt - cv::Point(iDeadzoneHalfEdge, iDeadzoneHalfEdge), cv::Size(iDeadzoneEdge, iDeadzoneEdge)); + cv::Rect rect(pt - cv::Point2f(iDeadzoneHalfEdge, iDeadzoneHalfEdge), cv::Size(iDeadzoneEdge, iDeadzoneEdge)); iTrackedRects.push_back(rect); } } @@ -465,7 +473,7 @@ namespace EasyTracker iAngles.push_back(angles); // Check if pitch is closest to zero - int absolutePitch = std::abs(angles[0]); + int absolutePitch = (int)std::abs(angles[0]); if (minPitch > absolutePitch) { // The solution with pitch closest to zero is the one we want diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h index a0478afc..0b51f9c7 100644 --- a/tracker-easy/tracker-easy.h +++ b/tracker-easy/tracker-easy.h @@ -141,9 +141,9 @@ namespace EasyTracker std::vector<cv::Rect> iTrackedRects; // Intrinsics camera matrix - cv::Mat iCameraMatrix; + cv::Matx33d iCameraMatrix { cv::Matx33d::zeros() }; // Intrinsics distortion coefficients as a matrix - cv::Mat iDistCoeffsMatrix; + cv::Matx<double, 8, 1> iDistCoeffsMatrix; // Translation solutions std::vector<cv::Mat> iTranslations; // Rotation solutions |