From 5adefe58a9f927bb3fddb4ee7706492f7a6ec43e Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 9 Jun 2016 10:52:56 +0200
Subject: tracker/pt: fix float/double promotions

---
 tracker-pt/ftnoir_tracker_pt.cpp | 17 +++++++++--------
 tracker-pt/ftnoir_tracker_pt.h   | 10 +++++-----
 2 files changed, 14 insertions(+), 13 deletions(-)

(limited to 'tracker-pt')

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index eafb8768..6dd40ceb 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -106,7 +106,7 @@ void Tracker_PT::run()
             float fx;
             if (!get_focal_length(fx))
                 continue;
-            
+
             const bool success = points.size() >= PointModel::N_POINTS;
 
             if (success)
@@ -114,9 +114,9 @@ void Tracker_PT::run()
                 point_tracker.track(points, PointModel(s), fx, s.dynamic_pose, s.init_phase_timeout);
                 ever_success = true;
             }
-            
+
             Affine X_CM = pose();
-            
+
             std::function<void(const cv::Vec2f&, const cv::Scalar)> fun = [&](const cv::Vec2f& p, const cv::Scalar color)
             {
                 auto p2 = cv::Point(p[0] * frame_.cols + frame_.cols/2, -p[1] * frame_.cols + frame_.rows/2);
@@ -129,14 +129,14 @@ void Tracker_PT::run()
                          cv::Point(p2.x, p2.y - 20),
                          cv::Point(p2.x, p2.y + 20),
                          color,
-                         4);                
+                         4);
             };
 
             for (unsigned i = 0; i < points.size(); i++)
             {
                 fun(points[i], cv::Scalar(0, 255, 0));
             }
-            
+
             {
                 Affine X_MH(cv::Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z)); // just copy pasted these lines from below
                 Affine X_GH = X_CM * X_MH;
@@ -211,9 +211,10 @@ void Tracker_PT::data(double *data)
         data[Pitch] = -rad2deg * beta;
         data[Roll] = rad2deg * gamma;
         // get translation(s)
-        data[TX] = t[0] / 10.0;	// convert to cm
-        data[TY] = t[1] / 10.0;
-        data[TZ] = t[2] / 10.0;
+        // convert to cm
+        data[TX] = t[0] / 10;
+        data[TY] = t[1] / 10;
+        data[TZ] = t[2] / 10;
     }
 }
 
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 2cf63771..6a889f13 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -54,9 +54,9 @@ private:
     };
     void set_command(Command command);
     void reset_command(Command command);
-    
+
     bool get_focal_length(float &ret);
-    
+
     volatile int commands;
 
     QMutex camera_mtx;
@@ -70,11 +70,11 @@ private:
     settings_pt s;
     Timer time;
     cv::Mat frame;
-    
+
     volatile bool ever_success;
 
-    static constexpr double rad2deg = 180.0/3.14159265;
-    static constexpr double deg2rad = 3.14159265/180.0;
+    static constexpr float rad2deg = float(180/3.14159265);
+    //static constexpr float deg2rad = float(3.14159265/180);
 };
 
 class TrackerDll : public Metadata
-- 
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