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Commit e0da9f93 authored by biagio montesano's avatar biagio montesano
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Deleted some warnings on BynaryDescriptor

parent 0ca3e31d
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Showing with 31 additions and 31 deletions
modules/line_descriptor/src/binary_descriptor.cpp
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......@@ -421,7 +421,7 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
/* create a ScaleLines object */
OctaveSingleLine fictiousOSL;
fictiousOSL.octaveCount = -1;
fictiousOSL.octaveCount = params.numOfOctave_ + 1;
LinesVec lv( params.numOfOctave_, fictiousOSL );
ScaleLines sl( numLines + 1, lv );
......@@ -466,7 +466,7 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
{
for ( size_t j = 0; j < sl[i].size(); j++ )
{
if( (int) ( sl[i][j] ).octaveCount == -1 )
if( (int) ( sl[i][j] ).octaveCount > params.numOfOctave_ )
( sl[i] ).erase( ( sl[i] ).begin() + j );
}
}
......@@ -477,10 +477,10 @@ void BinaryDescriptor::computeImpl( const Mat& imageSrc, std::vector<KeyLine>& k
/* resize output matrix */
if( !returnFloatDescr )
descriptors = cv::Mat( keylines.size(), 32, CV_8UC1 );
descriptors = cv::Mat( (int) keylines.size(), 32, CV_8UC1 );
else
descriptors = cv::Mat( keylines.size(), NUM_OF_BANDS * 8, CV_32FC1 );
descriptors = cv::Mat( (int) keylines.size(), NUM_OF_BANDS * 8, CV_32FC1 );
/* fill output matrix with descriptors */
for ( int k = 0; k < (int) sl.size(); k++ )
......@@ -537,7 +537,7 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
/* sigma values and reduction factor used in Gaussian pyramids */
float preSigma2 = 0; //orignal image is not blurred, has zero sigma;
float curSigma2 = 1.0; //[sqrt(2)]^0=1;
float factor = sqrt( 2 ); //the down sample factor between connective two octave images
double factor = sqrt( 2 ); //the down sample factor between connective two octave images
/* loop over number of octaves */
for ( int octaveCount = 0; octaveCount < params.numOfOctave_; octaveCount++ )
......@@ -552,7 +552,7 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
images_sizes[octaveCount] = blur.size();
/* for current octave, extract lines */
if( ( edLineVec_[octaveCount]->EDline( blur, true ) ) != true )
if( ( edLineVec_[octaveCount]->EDline( blur, true ) ) != 1 )
{
return -1;
}
......@@ -623,7 +623,7 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
if( params.numOfOctave_ > 1 )
{
/* some other variables' declarations */
float twoPI = 2 * M_PI;
double twoPI = 2 * M_PI;
unsigned int closeLineID = 0;
float endPointDis, minEndPointDis, minLocalDis, maxLocalDis;
float lp0, lp1, lp2, lp3, np0, np1, np2, np3;
......@@ -638,11 +638,11 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
for ( unsigned int lineCurId = 0; lineCurId < edLineVec_[octaveCount]->lines_.numOfLines; lineCurId++ )
{
/* get (scaled) known term from equation of current line */
rho1 = scale[octaveCount] * fabs( edLineVec_[octaveCount]->lineEquations_[lineCurId][2] );
rho1 = (float) ( scale[octaveCount] * fabs( edLineVec_[octaveCount]->lineEquations_[lineCurId][2] ) );
/*nearThreshold depends on the distance of the image coordinate origin to current line.
*so nearThreshold = rho1 * nearThresholdRatio, where nearThresholdRatio = 1-cos(10*pi/180) = 0.0152*/
tempValue = rho1 * 0.0152;
tempValue = (float) ( rho1 * 0.0152 );
float nearThreshold = ( tempValue > 6 ) ? ( tempValue ) : 6;
nearThreshold = ( nearThreshold < 12 ) ? nearThreshold : 12;
......@@ -688,7 +688,7 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
*where scale is the scale factor between to octave images*/
/* get known term from equation to be compared */
rho2 = scale[octaveID] * fabs( edLineVec_[octaveID]->lineEquations_[lineIDInOctave][2] );
rho2 = (float) ( scale[octaveID] * fabs( edLineVec_[octaveID]->lineEquations_[lineIDInOctave][2] ) );
/* compute difference between known ters */
near = fabs( rho1 - rho2 );
......@@ -869,10 +869,10 @@ int BinaryDescriptor::OctaveKeyLines( cv::Mat& image, ScaleLines &keyLines )
int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
{
//the default length of the band is the line length.
short numOfFinalLine = keyLines.size();
short numOfFinalLine = (short) keyLines.size();
float *dL = new float[2]; //line direction cos(dir), sin(dir)
float *dO = new float[2]; //the clockwise orthogonal vector of line direction.
short heightOfLSP = params.widthOfBand_ * NUM_OF_BANDS; //the height of line support region;
short heightOfLSP = (short) ( params.widthOfBand_ * NUM_OF_BANDS ); //the height of line support region;
short descriptor_size = NUM_OF_BANDS * 8; //each band, we compute the m( pgdL, ngdL, pgdO, ngdO) and std( pgdL, ngdL, pgdO, ngdO);
float pgdLRowSum; //the summation of {g_dL |g_dL>0 } for each row of the region;
float ngdLRowSum; //the summation of {g_dL |g_dL<0 } for each row of the region;
......@@ -914,22 +914,22 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
/* loop over list of LineVec */
for ( short lineIDInScaleVec = 0; lineIDInScaleVec < numOfFinalLine; lineIDInScaleVec++ )
{
sameLineSize = keyLines[lineIDInScaleVec].size();
sameLineSize = (short) ( keyLines[lineIDInScaleVec].size() );
/* loop over current LineVec's lines */
for ( short lineIDInSameLine = 0; lineIDInSameLine < sameLineSize; lineIDInSameLine++ )
{
/* get a line in current LineVec and its original ID in its octave */
pSingleLine = & ( keyLines[lineIDInScaleVec][lineIDInSameLine] );
octaveCount = pSingleLine->octaveCount;
octaveCount = (short) pSingleLine->octaveCount;
/* retrieve associated dxImg and dyImg */
pdxImg = edLineVec_[octaveCount]->dxImg_.ptr<short>();
pdyImg = edLineVec_[octaveCount]->dyImg_.ptr<short>();
/* get image size to work on from real one */
realWidth = edLineVec_[octaveCount]->imageWidth;
realWidth = (short) edLineVec_[octaveCount]->imageWidth;
imageWidth = realWidth - 1;
imageHeight = edLineVec_[octaveCount]->imageHeight - 1;
imageHeight = (short) ( edLineVec_[octaveCount]->imageHeight - 1 );
/* initialize memory areas */
memset( pgdLBandSum, 0, numOfBitsBand );
......@@ -942,12 +942,12 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
memset( ngdO2BandSum, 0, numOfBitsBand );
/* get length of line and its half */
lengthOfLSP = keyLines[lineIDInScaleVec][lineIDInSameLine].numOfPixels;
lengthOfLSP = (short) keyLines[lineIDInScaleVec][lineIDInSameLine].numOfPixels;
halfWidth = ( lengthOfLSP - 1 ) / 2;
/* get middlepoint of line */
lineMiddlePointX = 0.5 * ( pSingleLine->sPointInOctaveX + pSingleLine->ePointInOctaveX );
lineMiddlePointY = 0.5 * ( pSingleLine->sPointInOctaveY + pSingleLine->ePointInOctaveY );
lineMiddlePointX = (float) ( 0.5 * ( pSingleLine->sPointInOctaveX + pSingleLine->ePointInOctaveX ) );
lineMiddlePointY = (float) ( 0.5 * ( pSingleLine->sPointInOctaveY + pSingleLine->ePointInOctaveY ) );
/*1.rotate the local coordinate system to the line direction (direction is the angle
between positive line direction and positive X axis)
......@@ -980,9 +980,9 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
for ( short wID = 0; wID < lengthOfLSP; wID++ )
{
tempCor = round( sCorX );
tempCor = (short) round( sCorX );
xCor = ( tempCor < 0 ) ? 0 : ( tempCor > imageWidth ) ? imageWidth : tempCor;
tempCor = round( sCorY );
tempCor = (short) round( sCorY );
yCor = ( tempCor < 0 ) ? 0 : ( tempCor > imageHeight ) ? imageHeight : tempCor;
/* To achieve rotation invariance, each simple gradient is rotated aligned with
......@@ -1013,7 +1013,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
}
sCorX0 -= dL[1];
sCorY0 += dL[0];
coefInGaussion = gaussCoefG_[hID];
coefInGaussion = (float) gaussCoefG_[hID];
pgdLRowSum = coefInGaussion * pgdLRowSum;
ngdLRowSum = coefInGaussion * ngdLRowSum;
pgdL2RowSum = pgdLRowSum * pgdLRowSum;
......@@ -1026,8 +1026,8 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
/* compute {g_dL |g_dL>0 }, {g_dL |g_dL<0 },
{g_dO |g_dO>0 }, {g_dO |g_dO<0 } of each band in the line support region
first, current row belong to current band */
bandID = hID / params.widthOfBand_;
coefInGaussion = gaussCoefL_[hID % params.widthOfBand_ + params.widthOfBand_];
bandID = (short) ( hID / params.widthOfBand_ );
coefInGaussion = (float) ( gaussCoefL_[hID % params.widthOfBand_ + params.widthOfBand_] );
pgdLBandSum[bandID] += coefInGaussion * pgdLRowSum;
ngdLBandSum[bandID] += coefInGaussion * ngdLRowSum;
pgdL2BandSum[bandID] += coefInGaussion * coefInGaussion * pgdL2RowSum;
......@@ -1043,7 +1043,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
bandID--;
if( bandID >= 0 )
{/* the band above the current band */
coefInGaussion = gaussCoefL_[hID % params.widthOfBand_ + 2 * params.widthOfBand_];
coefInGaussion = (float) ( gaussCoefL_[hID % params.widthOfBand_ + 2 * params.widthOfBand_] );
pgdLBandSum[bandID] += coefInGaussion * pgdLRowSum;
ngdLBandSum[bandID] += coefInGaussion * ngdLRowSum;
pgdL2BandSum[bandID] += coefInGaussion * coefInGaussion * pgdL2RowSum;
......@@ -1056,7 +1056,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
bandID = bandID + 2;
if( bandID < NUM_OF_BANDS )
{/*the band below the current band */
coefInGaussion = gaussCoefL_[hID % params.widthOfBand_];
coefInGaussion = (float) ( gaussCoefL_[hID % params.widthOfBand_] );
pgdLBandSum[bandID] += coefInGaussion * pgdLRowSum;
ngdLBandSum[bandID] += coefInGaussion * ngdLRowSum;
pgdL2BandSum[bandID] += coefInGaussion * coefInGaussion * pgdL2RowSum;
......@@ -1078,8 +1078,8 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
/*Note that the first and last bands only have (lengthOfLSP * widthOfBand_ * 2.0) pixels
* which are counted. */
float invN2 = 1.0 / ( params.widthOfBand_ * 2.0 );
float invN3 = 1.0 / ( params.widthOfBand_ * 3.0 );
float invN2 = (float) ( 1.0 / ( params.widthOfBand_ * 2.0 ) );
float invN3 = (float) ( 1.0 / ( params.widthOfBand_ * 3.0 ) );
float invN, temp;
for ( bandID = 0; bandID < NUM_OF_BANDS; bandID++ )
{
......@@ -1114,7 +1114,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
desVec = pSingleLine->descriptor.data();
int base = 0;
for ( short i = 0; i < NUM_OF_BANDS * 8; ++base, i = base * 8 )
for ( short i = 0; i < (short) ( NUM_OF_BANDS * 8 ); ++base, i = base * 8 )
{
tempM += * ( desVec + i ) * * ( desVec + i ); //desVec[8*i+0] * desVec[8*i+0];
tempM += * ( desVec + i + 1 ) * * ( desVec + i + 1 ); //desVec[8*i+1] * desVec[8*i+1];
......@@ -1130,7 +1130,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
tempS = 1 / sqrt( tempS );
desVec = pSingleLine->descriptor.data();
base = 0;
for ( short i = 0; i < NUM_OF_BANDS * 8; ++base, i = base * 8 )
for ( short i = 0; i < (short) ( NUM_OF_BANDS * 8 ); ++base, i = base * 8 )
{
* ( desVec + i ) = * ( desVec + i ) * tempM; //desVec[8*i] = desVec[8*i] * tempM;
* ( desVec + 1 + i ) = * ( desVec + 1 + i ) * tempM; //desVec[8*i+1] = desVec[8*i+1] * tempM;
......@@ -1151,7 +1151,7 @@ int BinaryDescriptor::computeLBD( ScaleLines &keyLines )
{
if( desVec[i] > 0.4 )
{
desVec[i] = 0.4;
desVec[i] = (float)0.4;
}
}
......
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