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Set stricter warning rules for gcc

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This commit is contained in:
Andrey Kamaev
2012-06-07 17:21:29 +00:00
parent 0395f7c63f
commit 49a1ba6038
241 changed files with 9054 additions and 8947 deletions
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64
samples/cpp/calibration.cpp
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@@ -41,7 +41,7 @@ const char* liveCaptureHelp =
" 'g' - start capturing images\n"
" 'u' - switch undistortion on/off\n";
void help()
static void help()
{
printf( "This is a camera calibration sample.\n"
"Usage: calibration\n"
@@ -88,7 +88,7 @@ static double computeReprojectionErrors(
int i, totalPoints = 0;
double totalErr = 0, err;
perViewErrors.resize(objectPoints.size());
for( i = 0; i < (int)objectPoints.size(); i++ )
{
projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i],
@@ -99,14 +99,14 @@ static double computeReprojectionErrors(
totalErr += err*err;
totalPoints += n;
}
return std::sqrt(totalErr/totalPoints);
}
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners, Pattern patternType = CHESSBOARD)
{
corners.resize(0);
switch(patternType)
{
case CHESSBOARD:
@@ -140,21 +140,21 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
cameraMatrix = Mat::eye(3, 3, CV_64F);
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
cameraMatrix.at<double>(0,0) = aspectRatio;
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);
objectPoints.resize(imagePoints.size(),objectPoints[0]);
double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
distCoeffs, rvecs, tvecs, flags|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
///*|CV_CALIB_FIX_K3*/|CV_CALIB_FIX_K4|CV_CALIB_FIX_K5);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
@@ -162,7 +162,7 @@ static bool runCalibration( vector<vector<Point2f> > imagePoints,
}
void saveCameraParams( const string& filename,
static void saveCameraParams( const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
const Mat& cameraMatrix, const Mat& distCoeffs,
@@ -172,7 +172,7 @@ void saveCameraParams( const string& filename,
double totalAvgErr )
{
FileStorage fs( filename, FileStorage::WRITE );
time_t t;
time( &t );
struct tm *t2 = localtime( &t );
@@ -180,7 +180,7 @@ void saveCameraParams( const string& filename,
strftime( buf, sizeof(buf)-1, "%c", t2 );
fs << "calibration_time" << buf;
if( !rvecs.empty() || !reprojErrs.empty() )
fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
@@ -188,7 +188,7 @@ void saveCameraParams( const string& filename,
fs << "board_width" << boardSize.width;
fs << "board_height" << boardSize.height;
fs << "square_size" << squareSize;
if( flags & CV_CALIB_FIX_ASPECT_RATIO )
fs << "aspectRatio" << aspectRatio;
@@ -201,7 +201,7 @@ void saveCameraParams( const string& filename,
flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "" );
cvWriteComment( *fs, buf, 0 );
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
@@ -210,7 +210,7 @@ void saveCameraParams( const string& filename,
fs << "avg_reprojection_error" << totalAvgErr;
if( !reprojErrs.empty() )
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if( !rvecs.empty() && !tvecs.empty() )
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
@@ -229,7 +229,7 @@ void saveCameraParams( const string& filename,
cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "extrinsic_parameters" << bigmat;
}
if( !imagePoints.empty() )
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
@@ -259,7 +259,7 @@ static bool readStringList( const string& filename, vector<string>& l )
}
bool runAndSave(const string& outputFilename,
static bool runAndSave(const string& outputFilename,
const vector<vector<Point2f> >& imagePoints,
Size imageSize, Size boardSize, Pattern patternType, float squareSize,
float aspectRatio, int flags, Mat& cameraMatrix,
@@ -268,14 +268,14 @@ bool runAndSave(const string& outputFilename,
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
bool ok = runCalibration(imagePoints, imageSize, boardSize, patternType, squareSize,
aspectRatio, flags, cameraMatrix, distCoeffs,
rvecs, tvecs, reprojErrs, totalAvgErr);
printf("%s. avg reprojection error = %.2f\n",
ok ? "Calibration succeeded" : "Calibration failed",
totalAvgErr);
if( ok )
saveCameraParams( outputFilename, imageSize,
boardSize, squareSize, aspectRatio,
@@ -296,7 +296,7 @@ int main( int argc, char** argv )
Mat cameraMatrix, distCoeffs;
const char* outputFilename = "out_camera_data.yml";
const char* inputFilename = 0;
int i, nframes = 10;
bool writeExtrinsics = false, writePoints = false;
bool undistortImage = false;
@@ -412,7 +412,7 @@ int main( int argc, char** argv )
{
if( !videofile && readStringList(inputFilename, imageList) )
mode = CAPTURING;
else
else
capture.open(inputFilename);
}
else
@@ -420,7 +420,7 @@ int main( int argc, char** argv )
if( !capture.isOpened() && imageList.empty() )
return fprintf( stderr, "Could not initialize video (%d) capture\n",cameraId ), -2;
if( !imageList.empty() )
nframes = (int)imageList.size();
@@ -433,7 +433,7 @@ int main( int argc, char** argv )
{
Mat view, viewGray;
bool blink = false;
if( capture.isOpened() )
{
Mat view0;
@@ -442,7 +442,7 @@ int main( int argc, char** argv )
}
else if( i < (int)imageList.size() )
view = imread(imageList[i], 1);
if(!view.data)
{
if( imagePoints.size() > 0 )
@@ -452,14 +452,14 @@ int main( int argc, char** argv )
writeExtrinsics, writePoints);
break;
}
imageSize = view.size();
if( flipVertical )
flip( view, view, 0 );
vector<Point2f> pointbuf;
cvtColor(view, viewGray, CV_BGR2GRAY);
cvtColor(view, viewGray, CV_BGR2GRAY);
bool found;
switch( pattern )
@@ -489,14 +489,14 @@ int main( int argc, char** argv )
prevTimestamp = clock();
blink = capture.isOpened();
}
if(found)
drawChessboardCorners( view, boardSize, Mat(pointbuf), found );
string msg = mode == CAPTURING ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
int baseLine = 0;
Size textSize = getTextSize(msg, 1, 1, 1, &baseLine);
Size textSize = getTextSize(msg, 1, 1, 1, &baseLine);
Point textOrigin(view.cols - 2*textSize.width - 10, view.rows - 2*baseLine - 10);
if( mode == CAPTURING )
@@ -524,7 +524,7 @@ int main( int argc, char** argv )
if( (key & 255) == 27 )
break;
if( key == 'u' && mode == CALIBRATED )
undistortImage = !undistortImage;
@@ -547,14 +547,14 @@ int main( int argc, char** argv )
break;
}
}
if( !capture.isOpened() && showUndistorted )
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for( i = 0; i < (int)imageList.size(); i++ )
{
view = imread(imageList[i], 1);
@@ -568,6 +568,6 @@ int main( int argc, char** argv )
break;
}
}
return 0;
}