From 6fa936472e44779b1edb07acbfa31ba4b540aba1 Mon Sep 17 00:00:00 2001
From: Alexander Shishkov <no@email>
Date: Tue, 20 Dec 2011 12:10:12 +0000
Subject: [PATCH] fixed compilation errors in epnp with gcc

---
 modules/calib3d/src/epnp.cpp | 50 +++++++++++++++++++-----------------
 1 file changed, 27 insertions(+), 23 deletions(-)

diff --git a/modules/calib3d/src/epnp.cpp b/modules/calib3d/src/epnp.cpp
index cbbea01a4..60e91a3cd 100644
--- a/modules/calib3d/src/epnp.cpp
+++ b/modules/calib3d/src/epnp.cpp
@@ -2,37 +2,41 @@
 using namespace std;
 #include "precomp.hpp"
 #include "epnp.h"
-
-namespace cv
+
+namespace cv
 {
-double ePnP( InputArray _opoints, InputArray _ipoints,
-                  InputArray _cameraMatrix, InputArray _distCoeffs,
-                  OutputArray _rvec, OutputArray _tvec)
-{
-    Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
-    int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
-    CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
-	Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
-
-	Mat undistortedPoints;
-	undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
-
+double ePnP( InputArray _opoints, InputArray _ipoints,
+                  InputArray _cameraMatrix, InputArray _distCoeffs,
+                  OutputArray _rvec, OutputArray _tvec)
+{
+    Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat();
+    int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
+    CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );
+	Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
+
+	Mat undistortedPoints;
+	undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
+
     epnp PnP;
 	PnP.set_internal_parameters(cameraMatrix.at<double> (0, 2), cameraMatrix.at<double> (1, 2), cameraMatrix.at<double> (0, 0), cameraMatrix.at<double> (1, 1));
-	PnP.set_maximum_number_of_correspondences(npoints);
+	PnP.set_maximum_number_of_correspondences(npoints);
 	PnP.reset_correspondences();
     for(int i = 0; i < npoints; i++) {
         PnP.add_correspondence(opoints.at<Point3d>(0,i).x, opoints.at<Point3d>(0,i).y, opoints.at<Point3d>(0,i).z, undistortedPoints.at<Point2d>(0,i).x* cameraMatrix.at<double> (0, 0) + cameraMatrix.at<double> (0, 2),
 			undistortedPoints.at<Point2d>(0,i).y* cameraMatrix.at<double> (1, 1) + cameraMatrix.at<double> (1, 2));
-    }
+    }
 	double R_est[3][3], t_est[3];
-	double error = PnP.compute_pose(R_est, t_est);
-	
-	_tvec.create(3,1,CV_64F);
-	_rvec.create(3,1,CV_64F);
-	Mat(3, 1, CV_64FC1, t_est).copyTo(_tvec.getMat());
-    Rodrigues(Mat(3, 3, CV_64FC1, R_est), _rvec.getMat());
-	return error;
+	double error = PnP.compute_pose(R_est, t_est);
+	
+	_tvec.create(3,1,CV_64F);
+	_rvec.create(3,1,CV_64F);
+        Mat t = Mat(3, 1, CV_64FC1, t_est);
+        Mat tvec = _tvec.getMat();
+        t.copyTo(tvec);
+        Mat R = Mat(3, 3, CV_64FC1, R_est);
+        Mat rvec = _rvec.getMat();
+        Rodrigues(R, rvec);
+	return error;
 }
 }