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Added cast and removed formatting error

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This commit is contained in:
PhilLab
2014-07-08 13:24:35 +02:00
parent aafda43df1
commit 2c29ee9e00
1 changed files with 5 additions and 4 deletions
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9
modules/calib3d/src/solvepnp.cpp
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@@ -187,7 +187,8 @@ namespace cv
for (int i = 0; i < objectPoints.cols; i++) for (int i = 0; i < objectPoints.cols; i++)
{ {
//Although p is a 2D point it needs the same type as the object points to enable the norm calculation //Although p is a 2D point it needs the same type as the object points to enable the norm calculation
Point_<OpointType> p(imagePoints.at<Vec<IpointType,2>>(0, i)[0], imagePoints.at<Vec<IpointType,2>>(0, i)[1]); Point_<OpointType> p((OpointType)imagePoints.at<Vec<IpointType,2>>(0, i)[0],
(OpointType)imagePoints.at<Vec<IpointType,2>>(0, i)[1]);
if ((norm(p - projected_points[i]) < params.reprojectionError) if ((norm(p - projected_points[i]) < params.reprojectionError)
&& (rotatedPoints.at<Vec<OpointType,3>>(0, i)[2] > 0)) //hack && (rotatedPoints.at<Vec<OpointType,3>>(0, i)[2] > 0)) //hack
{ {
@@ -212,9 +213,9 @@ namespace cv
static void pnpTask(const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints, static void pnpTask(const vector<char>& pointsMask, const Mat& objectPoints, const Mat& imagePoints,
const Parameters& params, vector<int>& inliers, Mat& rvec, Mat& tvec, const Parameters& params, vector<int>& inliers, Mat& rvec, Mat& tvec,
const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex) const Mat& rvecInit, const Mat& tvecInit, Mutex& resultsMutex)
{ {
CV_Assert(objectPoints.depth() == CV_64F || objectPoints.depth() == CV_32F); CV_Assert(objectPoints.depth() == CV_64F || objectPoints.depth() == CV_32F);
CV_Assert(imagePoints.depth() == CV_64F || imagePoints.depth() == CV_32F); CV_Assert(imagePoints.depth() == CV_64F || imagePoints.depth() == CV_32F);
const bool objectDoublePrecision = objectPoints.depth() == CV_64F; const bool objectDoublePrecision = objectPoints.depth() == CV_64F;
const bool imageDoublePrecision = imagePoints.depth() == CV_64F; const bool imageDoublePrecision = imagePoints.depth() == CV_64F;
if(objectDoublePrecision) if(objectDoublePrecision)