Merge pull request #27 from vpisarev/rgbd_fixes

modules/rgbd/src/normal.cpp

@@ -307,7 +307,14 @@ namespace
           (*normal)[2] = *row_r;
         }
         else
-          signNormal((*M_inv) * (*B_vec), *normal);
+        {
+            Mat33T Mr = *M_inv;
+            Vec3T Br = *B_vec;
+            Vec3T MBr(Mr(0, 0) * Br[0] + Mr(0, 1)*Br[1] + Mr(0, 2)*Br[2],
+                      Mr(1, 0) * Br[0] + Mr(1, 1)*Br[1] + Mr(1, 2)*Br[2],
+                      Mr(2, 0) * Br[0] + Mr(2, 1)*Br[1] + Mr(2, 2)*Br[2]);
+           signNormal(MBr, *normal);
+        }
     }
 
   private:

modules/rgbd/test/test_normal.cpp

@@ -189,26 +189,26 @@ protected:
           case 0:
             method = cv::RgbdNormals::RGBD_NORMALS_METHOD_FALS;
             std::cout << std::endl << "*** FALS" << std::endl;
-            errors[0][0] = 0.006;
-            errors[0][1] = 0.03;
-            errors[1][0] = 0.00008;
-            errors[1][1] = 0.02;
+            errors[0][0] = 0.006f;
+            errors[0][1] = 0.03f;
+            errors[1][0] = 0.00008f;
+            errors[1][1] = 0.02f;
             break;
           case 1:
             method = cv::RgbdNormals::RGBD_NORMALS_METHOD_LINEMOD;
             std::cout << std::endl << "*** LINEMOD" << std::endl;
-            errors[0][0] = 0.04;
-            errors[0][1] = 0.07;
-            errors[1][0] = 0.05;
-            errors[1][1] = 0.08;
+            errors[0][0] = 0.04f;
+            errors[0][1] = 0.07f;
+            errors[1][0] = 0.05f;
+            errors[1][1] = 0.08f;
             break;
           case 2:
             method = cv::RgbdNormals::RGBD_NORMALS_METHOD_SRI;
             std::cout << std::endl << "*** SRI" << std::endl;
-            errors[0][0] = 0.02;
-            errors[0][1] = 0.04;
-            errors[1][0] = 0.02;
-            errors[1][1] = 0.04;
+            errors[0][0] = 0.02f;
+            errors[0][1] = 0.04f;
+            errors[1][0] = 0.02f;
+            errors[1][1] = 0.04f;
             break;
 		  default:
 			method = (cv::RgbdNormals::RGBD_NORMALS_METHOD)-1;
@@ -369,15 +369,15 @@ protected:
       }
 
       // Compare each found plane to each ground truth plane
-      size_t n_planes = plane_coefficients.size();
-      size_t n_gt_planes = gt_planes.size();
+      int n_planes = (int)plane_coefficients.size();
+      int n_gt_planes = (int)gt_planes.size();
       cv::Mat_<int> matching(n_gt_planes, n_planes);
-      for (size_t j = 0; j < n_gt_planes; ++j)
+      for (int j = 0; j < n_gt_planes; ++j)
       {
         cv::Mat gt_mask = gt_plane_mask == j;
         int n_gt = cv::countNonZero(gt_mask);
         int n_max = 0, i_max = 0;
-        for (size_t i = 0; i < n_planes; ++i)
+        for (int i = 0; i < n_planes; ++i)
         {
           cv::Mat dst;
           cv::bitwise_and(gt_mask, plane_mask == i, dst);

modules/rgbd/test/test_odometry.cpp

@@ -206,7 +206,7 @@ bool CV_OdometryTest::readData(Mat& image, Mat& depth) const
 
 void CV_OdometryTest::generateRandomTransformation(Mat& rvec, Mat& tvec)
 {
-    const float maxRotation = 3.f / 180.f * CV_PI; //rad
+    const float maxRotation = (float)(3.f / 180.f * CV_PI); //rad
     const float maxTranslation = 0.02f; //m
 
     RNG& rng = theRNG();

modules/rgbd/test/test_utils.cpp

@@ -42,7 +42,7 @@ protected:
       float avg_diff = 0;
       for (int y = 0; y < rows; ++y)
         for (int x = 0; x < cols; ++x)
-          avg_diff += cv::norm(image_points.at<cv::Vec2f>(y,x) - cv::Vec2f(x,y));
+          avg_diff += (float)cv::norm(image_points.at<cv::Vec2f>(y,x) - cv::Vec2f((float)x,(float)y));
 
       // Verify the function works
       ASSERT_LE(avg_diff/rows/cols, 1e-4) << "Average error for ground truth is: " << (avg_diff / rows / cols);