remove warnings

modules/ccalib/include/opencv2/omnidir.hpp

@@ -118,7 +118,7 @@ namespace omnidir
     @param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F
     @param P New camera matrix (3x3) or new projection matrix (3x4)
     @param size Undistorted image size.
-    @param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
+    @param mltype Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
     for details.
     @param map1 The first output map.
     @param map2 The second output map.
@@ -135,6 +135,7 @@ namespace omnidir
     @param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
     @param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
     @param xi The parameter xi for CMei's model.
+    @param flags Flags indicates the rectification type,  RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC
     @param Knew Camera matrix of the distorted image. If it is not assigned, it is just K.
     @param new_size The new image size. By default, it is the size of distorted.
     @param R Rotation matrix between the input and output images. By default, it is identity matrix.
@@ -152,14 +153,14 @@ namespace omnidir
     @param K Output calibrated camera matrix.
     @param xi Output parameter xi for CMei's model
     @param D Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$
-    @param omAll Output rotations for each calibration images
-    @param tAll Output translation for each calibration images
+    @param rvecs Output rotations for each calibration images
+    @param tvecs Output translation for each calibration images
     @param flags The flags that control calibrate
     @param criteria Termination criteria for optimization
     @param idx Indices of images that pass initialization, which are really used in calibration. So the size of rvecs is the
     same as idx.total().
     */
-    CV_EXPORTS_W double calibrate(InputArray patternPoints, InputArray imagePoints, Size size,
+    CV_EXPORTS_W double calibrate(InputArray objectPoints, InputArray imagePoints, Size size,
         InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
         int flags, TermCriteria criteria, OutputArray idx=noArray());
 
@@ -172,7 +173,8 @@ namespace omnidir
     It must be the same size and the same type as objectPoints.
     @param imagePoints2 The corresponding image points of the second camera, with type vector<vector<Vec2f> >.
     It must be the same size and the same type as objectPoints.
-    @param imageSize Image size of calibration images.
+    @param imageSize1 Image size of calibration images of the first camera.
+    @param imageSize2 Image size of calibration images of the second camera.
     @param K1 Output camera matrix for the first camera.
     @param xi1 Output parameter xi of Mei's model for the first camera
     @param D1 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera
@@ -215,7 +217,7 @@ namespace omnidir
     @param flag Flag of rectification type, RECTIFY_PERSPECTIVE or RECTIFY_LONGLATI
     @param numDisparities The parameter 'numDisparities' in StereoSGBM, see StereoSGBM for details.
     @param SADWindowSize The parameter 'SADWindowSize' in StereoSGBM, see StereoSGBM for details.
-    @param depth Depth map generated by stereo matching
+    @param disparity Disparity map generated by stereo matching
     @param pointCloud Point cloud of 3D reconstruction, with type CV_64FC3
     @param newSize Image size of rectified image, see omnidir::undistortImage
     @param Knew New camera matrix of rectified image, see omnidir::undistortImage

modules/ccalib/src/multiCameraCalibration.cpp

@@ -144,13 +144,13 @@ void multiCameraCalibration::loadImages()
     {
         int cameraVertex, timestamp;
         std::string filename = file_list[i].substr(0, file_list[i].find('.'));
-        int spritPosition1 = filename.rfind('/');
-        int spritPosition2 = filename.rfind('\\');
-        if (spritPosition1!=(int)std::string::npos)
+        size_t spritPosition1 = filename.rfind('/');
+        size_t spritPosition2 = filename.rfind('\\');
+        if (spritPosition1!=std::string::npos)
         {
             filename = filename.substr(spritPosition1+1, filename.size() - 1);
         }
-        else if(spritPosition2!= (int)std::string::npos)
+        else if(spritPosition2!= std::string::npos)
         {
             filename = filename.substr(spritPosition2+1, filename.size() - 1);
         }
@@ -383,7 +383,7 @@ void multiCameraCalibration::computeJacobianExtrinsic(const Mat& extrinsicParams
 
     for (int edgeIdx = 0; edgeIdx < nEdge; ++edgeIdx)
     {
-        int nPoints = _objectPointsForEachCamera[_edgeList[edgeIdx].cameraVertex][_edgeList[edgeIdx].photoIndex].total();
+        int nPoints = (int)_objectPointsForEachCamera[_edgeList[edgeIdx].cameraVertex][_edgeList[edgeIdx].photoIndex].total();
         pointsLocation[edgeIdx+1] = pointsLocation[edgeIdx] + nPoints*2;
     }
 

modules/ccalib/src/omnidir.cpp

@@ -894,7 +894,7 @@ void cv::omnidir::internal::computeJacobian(InputArrayOfArrays objectPoints, Inp
     int nPointsAll = 0;
     for (int i = 0; i < n; ++i)
     {
-        nPointsAll += objectPoints.getMat(i).total();
+        nPointsAll += (int)objectPoints.getMat(i).total();
     }
 
     //Mat J = Mat::zeros(2*n*objectPoints.getMat(0).total(), 10+6*n, CV_64F);
@@ -940,8 +940,8 @@ void cv::omnidir::internal::computeJacobian(InputArrayOfArrays objectPoints, Inp
 
         Mat(JIn.t()*JEx).copyTo(JTJ(Rect(i*6, 6*n, 6, 10)));
 
-        JTE(Rect(0, 6*n, 1, 10)) = JTE(Rect(0, 6*n,1, 10)) + JIn.t() * projError.reshape(1, 2*projError.total());
-        JTE(Rect(0, i*6, 1, 6)) = JEx.t() * projError.reshape(1, 2*projError.total());
+        JTE(Rect(0, 6*n, 1, 10)) = JTE(Rect(0, 6*n,1, 10)) + JIn.t() * projError.reshape(1, 2*(int)projError.total());
+        JTE(Rect(0, i*6, 1, 6)) = JEx.t() * projError.reshape(1, 2*(int)projError.total());
 
         //int nPoints = objectPoints.getMat(i).total();
         //JIn.copyTo(J(Rect(6*n, i*nPoints*2, 10, nPoints*2)));
@@ -970,8 +970,8 @@ void cv::omnidir::internal::computeJacobianStereo(InputArrayOfArrays objectPoint
     CV_Assert((imagePoints1.total() == imagePoints2.total()) && (imagePoints1.total() == objectPoints.total()));
 
     // compute Jacobian matrix by naive way
-    int n_img = objectPoints.total();
-    int n_points = objectPoints.getMat(0).total();
+    int n_img = (int)objectPoints.total();
+    int n_points = (int)objectPoints.getMat(0).total();
     Mat J = Mat::zeros(4 * n_points * n_img, 20 + 6 * (n_img + 1), CV_64F);
     Mat exAll = Mat::zeros(4 * n_points * n_img, 1, CV_64F);
     double *para = parameters.getMat().ptr<double>();
@@ -1298,7 +1298,7 @@ double cv::omnidir::calibrate(InputArray patternPoints, InputArray imagePoints,
 
     if (idx.needed())
     {
-        idx.create(1, _idx.total(), CV_32S);
+        idx.create(1, (int)_idx.total(), CV_Assert_32S);
         _idx.copyTo(idx.getMat());
     }
 
@@ -1620,7 +1620,7 @@ void cv::omnidir::stereoReconstruct(InputArray image1, InputArray image2, InputA
                 }
             }
         }
-        int nPoints;
+        int nPoints = 0;
         if (pointType == XYZ)
         {
             nPoints = (int)_pointCloud.size();
@@ -1638,7 +1638,7 @@ void cv::omnidir::internal::encodeParameters(InputArray K, InputArrayOfArrays om
 {
     CV_Assert(K.type() == CV_64F && K.size() == Size(3,3));
     CV_Assert(distoaration.total() == 4 && distoaration.type() == CV_64F);
-    int n = omAll.total();
+    int n = (int)omAll.total();
     Mat _omAll = omAll.getMat(), _tAll = tAll.getMat();
     Mat tmp = Mat(_omAll.at<Vec3d>(0)).reshape(1,3).clone();
     Matx33d _K = K.getMat();
@@ -1771,7 +1771,7 @@ void cv::omnidir::internal::encodeParametersStereo(InputArray K1, InputArray K2,
     if(T.empty())
         T.create(3, 1, CV_64F);
 
-    int n = (parameters.total() - 20) / 6 - 1;
+    int n = ((int)parameters.total() - 20) / 6 - 1;
 
     if(omL.empty())
         omL.create(1, n, CV_64FC3);
@@ -1839,7 +1839,7 @@ void cv::omnidir::internal::estimateUncertainties(InputArrayOfArrays objectPoint
     int nPointsAll = 0;
     for (int i = 0; i < n; ++i)
     {
-        nPointsAll += objectPoints.getMat(i).total();
+        nPointsAll += (int)objectPoints.getMat(i).total();
     }
 
     Mat reprojError = Mat(nPointsAll, 1, CV_64FC2);
@@ -1907,7 +1907,7 @@ void cv::omnidir::internal::estimateUncertaintiesStereo(InputArrayOfArrays objec
     CV_Assert(!objectPoints.empty() && objectPoints.type() == CV_64FC3);
     CV_Assert(!imagePoints1.empty() && imagePoints1.type() == CV_64FC2 && imagePoints1.total() == objectPoints.total());
     CV_Assert(!imagePoints2.empty() && imagePoints2.type() == CV_64FC2 && imagePoints1.total() == imagePoints2.total());
-    int n_img = objectPoints.total();
+    int n_img = (int)objectPoints.total();
     CV_Assert((int)parameters.total() == (6*(n_img+1)+20));
 
     Mat _K1, _K2, _D1, _D2;
@@ -1917,7 +1917,7 @@ void cv::omnidir::internal::estimateUncertaintiesStereo(InputArrayOfArrays objec
     double _xi1, _xi2;
     internal::decodeParametersStereo(_parameters, _K1, _K2, _om, _T, _omL, _tL, _D1, _D2, _xi1, _xi2);
 
-    int n_points = objectPoints.getMat(0).total();
+    int n_points = (int)objectPoints.getMat(0).total();
     Mat reprojErrorAll = Mat::zeros(2*n_points*n_img, 1, CV_64FC2);
 
     // error for left image