fixed warnings

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.cpp

@@ -13,9 +13,15 @@
 
 #include <opencv2/calib3d/calib3d.hpp>
 
+/* Functions headers */
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2);
+double DOT(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f get_nearest_3D_point(std::vector<cv::Point3f> &points_list, cv::Point3f origin);
+
+
+/* Functions for Möller–Trumbore intersection algorithm */
 
-/* Functions for Möller–Trumbore intersection algorithm
- * */
 cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2)
 {
   cv::Point3f tmp_p;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/PnPProblem.h

@@ -50,4 +50,9 @@ private:
   cv::Mat _P_matrix;
 };
 
+// Functions for Möller–Trumbore intersection algorithm
+cv::Point3f CROSS(cv::Point3f v1, cv::Point3f v2);
+double DOT(cv::Point3f v1, cv::Point3f v2);
+cv::Point3f SUB(cv::Point3f v1, cv::Point3f v2);
+
 #endif /* PNPPROBLEM_H_ */

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/RobustMatcher.cpp

@@ -113,9 +113,9 @@ void RobustMatcher::robustMatch( const cv::Mat& frame, std::vector<cv::DMatch>&
 
   // 3. Remove matches for which NN ratio is > than threshold
   // clean image 1 -> image 2 matches
-  int removed1 = ratioTest(matches12);
+  ratioTest(matches12);
   // clean image 2 -> image 1 matches
-  int removed2 = ratioTest(matches21);
+  ratioTest(matches21);
 
   // 4. Remove non-symmetrical matches
   symmetryTest(matches12, matches21, good_matches);
@@ -140,7 +140,7 @@ void RobustMatcher::fastRobustMatch( const cv::Mat& frame, std::vector<cv::DMatc
   matcher_->knnMatch(descriptors_frame, descriptors_model, matches, 2);
 
   // 3. Remove matches for which NN ratio is > than threshold
-  int removed = ratioTest(matches);
+  ratioTest(matches);
 
   // 4. Fill good matches container
   for ( std::vector<std::vector<cv::DMatch> >::iterator

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/Utils.cpp

@@ -114,7 +114,7 @@ void drawArrow(cv::Mat image, cv::Point2i p, cv::Point2i q, cv::Scalar color, in
 {
   //Draw the principle line
   cv::line(image, p, q, color, thickness, line_type, shift);
-  const double PI = 3.141592653;
+  const double PI = CV_PI;
   //compute the angle alpha
   double angle = atan2((double)p.y-q.y, (double)p.x-q.x);
   //compute the coordinates of the first segment
@@ -137,9 +137,6 @@ void draw3DCoordinateAxes(cv::Mat image, const std::vector<cv::Point2f> &list_po
   cv::Scalar blue(255,0,0);
   cv::Scalar black(0,0,0);
 
-  const double PI = 3.141592653;
-  int length = 50;
-
   cv::Point2i origin = list_points2d[0];
   cv::Point2i pointX = list_points2d[1];
   cv::Point2i pointY = list_points2d[2];
@@ -196,13 +193,11 @@ cv::Mat rot2euler(const cv::Mat & rotationMatrix)
   cv::Mat euler(3,1,CV_64F);
 
   double m00 = rotationMatrix.at<double>(0,0);
-  double m01 = rotationMatrix.at<double>(0,1);
   double m02 = rotationMatrix.at<double>(0,2);
   double m10 = rotationMatrix.at<double>(1,0);
   double m11 = rotationMatrix.at<double>(1,1);
   double m12 = rotationMatrix.at<double>(1,2);
   double m20 = rotationMatrix.at<double>(2,0);
-  double m21 = rotationMatrix.at<double>(2,1);
   double m22 = rotationMatrix.at<double>(2,2);
 
   double x, y, z;

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_registration.cpp

@@ -17,16 +17,14 @@
    * Set up the images paths
    */
 
-  std::string tutorial_path = "../../samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/";
-
   // COOKIES BOX [718x480]
-  std::string img_path = tutorial_path + "Data/resized_IMG_3875.JPG"; // f 55
+  std::string img_path = "../Data/resized_IMG_3875.JPG"; // f 55
 
   // COOKIES BOX MESH
-  std::string ply_read_path = tutorial_path + "Data/box.ply";
+  std::string ply_read_path = "../Data/box.ply";
 
   // YAML writting path
-  std::string write_path = tutorial_path + "Data/cookies_ORB.yml";
+  std::string write_path = "../Data/cookies_ORB.yml";
 
   void help()
   {