Merge pull request #1306 from fspindle/fix_msvc17_warnings

Fix msvc17 warnings

doc/tutorial/tracking/tutorial-tracking-mb-generic-json.dox

@@ -227,48 +227,48 @@ Let's now look at an example of how to use JSON to track an object.
 This example is similar to tutorial-mb-generic-tracker-rgbd-realsense.cpp, where an XML configuration file is used to configure camera per camera.
 Instead, here, we will use a JSON file to fully configure the tracker.
 
-The full code can be found in tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp
+The full code can be found in tutorial-mb-generic-tracker-rgbd-realsense-json.cpp
 
 To run the example:
 \code{.sh}
 // If no CAD model is defined in the JSON file
 $ cd $VISP_WS/visp-build/tutorial/tracking/model-based/generic-rgbd
-$ ./tutorial-mb-generic-tracker-rgbd-realsense-json-settings \
+$ ./tutorial-mb-generic-tracker-rgbd-realsense-json \
     --config model/cube/realsense-color-and-depth.json \
     --model model/cube/cube.cao
 
 // If CAD model is defined in JSON
-$ ./tutorial-mb-generic-tracker-rgbd-realsense-json-settings \
+$ ./tutorial-mb-generic-tracker-rgbd-realsense-json \
     --config model/cube/realsense-color-and-depth.json
 \endcode
 
 The main difference between tutorial-mb-generic-tracker-rgbd-realsense.cpp and
-tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp is that in the latter we specify which features
+tutorial-mb-generic-tracker-rgbd-realsense-json.cpp is that in the latter we specify which features
 to use in the JSON config file.
 
 First, we initialize the camera (here, a vpRealsense2 camera) and query the camera intrinsics,
 as well as declare the vpImage we will use to store the data feed and display it:
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Init
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Init
 
 To load the json configuration, we simply call:
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Loading
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Loading
 
 We then query what features are used by the tracker and update its input accordingly
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Init maps
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Init maps
 
 To finish with the configuration, we load the 3D CAD model if none was defined in the JSON file.
 If none is given by the user, then an exception is thrown.
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Load 3D model
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Load 3D model
 
 To ensure the best performance, we might still prefer to use the camera intrinsics and transformation
 between color and depth cameras provided by the Realsense SDK.
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Update params
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Update params
 
 We then initialize tracking by click:
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Init tracking
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Init tracking
 
 Finally, we can start tracking:
-\snippet tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp Tracking
+\snippet tutorial-mb-generic-tracker-rgbd-realsense-json.cpp Tracking
 
 \section json-settings-next Next tutorial
 

modules/core/include/visp3/core/vpImageFilter.h

@@ -294,8 +294,8 @@ class VISP_EXPORT vpImageFilter
                                      const float &lowerThresholdRatio = 0.6, const float &upperThresholdRatio = 0.8,
                                      const vpCannyFilteringAndGradientType &filteringType = CANNY_GBLUR_SOBEL_FILTERING)
   {
-    double w = I.getWidth();
-    double h = I.getHeight();
+    unsigned int w = static_cast<unsigned int>(I.getWidth());
+    unsigned int h = static_cast<unsigned int>(I.getHeight());
 
     vpImage<unsigned char> dI(h, w);
     vpImage<OutType> dIx(h, w), dIy(h, w);
@@ -327,7 +327,7 @@ class VISP_EXPORT vpImageFilter
     float t = (float)(upperThresholdRatio * w * h);
     float bon = 0;
     for (unsigned int i = 0; i < nbBins; ++i) {
-      float tf = hist[i];
+      float tf = static_cast<float>(hist[i]);
       accu = accu + tf;
       if (accu > t) {
         bon = (float)i;

modules/core/src/image/vpImageCircle.cpp

@@ -910,16 +910,16 @@ float vpImageCircle::computeAngularCoverageInRoI(const vpRect &roi, const float
 {
   float delta_theta = 0.f;
   vpImagePoint center = m_center;
-  float u_c = center.get_u();
-  float v_c = center.get_v();
+  float u_c = static_cast<float>(center.get_u());
+  float v_c = static_cast<float>(center.get_v());
   float radius = m_radius;
-  float roi_w = roi.getWidth();
-  float roi_h = roi.getHeight();
+  float roi_w = static_cast<float>(roi.getWidth());
+  float roi_h = static_cast<float>(roi.getHeight());
   vpImagePoint topLeft = roi.getTopLeft();
-  float umin_roi = topLeft.get_u();
-  float vmin_roi = topLeft.get_v();
-  float umax_roi = topLeft.get_u() + roi_w;
-  float vmax_roi = topLeft.get_v() + roi_h;
+  float umin_roi = static_cast<float>(topLeft.get_u());
+  float vmin_roi = static_cast<float>(topLeft.get_v());
+  float umax_roi = umin_roi + roi_w;
+  float vmax_roi = vmin_roi + roi_h;
   bool touchLeftBorder = (u_c - radius) <= umin_roi;
   bool touchRightBorder = (u_c + radius) >= umax_roi;
   bool touchTopBorder = (v_c - radius) <= vmin_roi;

modules/core/src/image/vpImageFilter.cpp

@@ -1075,7 +1075,7 @@ void vpImageFilter::canny(const vpImage<unsigned char> &Isrc, vpImage<unsigned c
                                               cannyFilteringSteps);
     }
     else if (lowerCannyThresh < 0.f) {
-      lowerCannyThresh = upperCannyThresh / 3.;
+      lowerCannyThresh = upperCannyThresh / 3.f;
     }
     vpCannyEdgeDetection edgeDetector(gaussianFilterSize, gaussianStdev, apertureGradient, lowerCannyThresh, upperCannyThresh,
                                       lowerThresholdRatio, upperThresholdRatio, cannyFilteringSteps);

modules/imgproc/include/visp3/imgproc/vpContours.h

@@ -112,6 +112,8 @@ struct vpDirection
    */
   vpDirection()
   {
+    m_direction = NORTH;
+
     m_dirx[0] = 0;
     m_dirx[1] = 1;
     m_dirx[2] = 1;

modules/imgproc/src/vpCircleHoughTransform.cpp

@@ -607,7 +607,7 @@ vpCircleHoughTransform::computeCenterCandidates()
     }
   }
 
-  unsigned int nbPeaks = peak_positions_votes.size();
+  unsigned int nbPeaks = static_cast<unsigned int>(peak_positions_votes.size());
   if (nbPeaks > 0) {
     std::vector<bool> has_been_merged(nbPeaks, false);
     std::vector<std::pair<std::pair<float, float>, float>> merged_peaks_position_votes;
@@ -672,7 +672,7 @@ vpCircleHoughTransform::computeCenterCandidates()
 
     std::sort(merged_peaks_position_votes.begin(), merged_peaks_position_votes.end(), sortingCenters);
 
-    nbPeaks = merged_peaks_position_votes.size();
+    nbPeaks = static_cast<unsigned int>(merged_peaks_position_votes.size());
     int nbPeaksToKeep = (m_algoParams.m_expectedNbCenters > 0 ? m_algoParams.m_expectedNbCenters : nbPeaks);
     nbPeaksToKeep = std::min<int>(nbPeaksToKeep, (int)nbPeaks);
     for (int i = 0; i < nbPeaksToKeep; i++) {
@@ -793,7 +793,7 @@ vpCircleHoughTransform::computeCircleCandidates()
       }
     }
 
-    unsigned int nbCandidates = v_r_effective.size();
+    unsigned int nbCandidates = static_cast<unsigned int>(v_r_effective.size());
     for (unsigned int idBin = 0; idBin < nbCandidates; ++idBin) {
       // If the circle of center CeC_i  and radius RCB_k has enough votes, it is added to the list
       // of Circle Candidates

modules/robot/src/real-robot/pololu-maestro/vpRobotPololuPtu.cpp

@@ -47,12 +47,12 @@ vpRobotPololuPtu::vpRobotPololuPtu(const std::string &device, int baudrate, bool
   nDof = 2;
   m_pan.connect(device, baudrate, 0);
   m_pan.setPwmRange(4095, 7905);
-  m_pan.setAngularRange(vpMath::rad(-45), vpMath::rad(45));
+  m_pan.setAngularRange(static_cast<float>(vpMath::rad(-45)), static_cast<float>(vpMath::rad(45)));
   m_pan.setVerbose(verbose);
 
   m_tilt.connect(device, baudrate, 1);
   m_tilt.setPwmRange(4095, 7905);
-  m_tilt.setAngularRange(vpMath::rad(-45), vpMath::rad(45));
+  m_tilt.setAngularRange(static_cast<float>(vpMath::rad(-45)), static_cast<float>(vpMath::rad(45)));
   m_tilt.setVerbose(verbose);
 }
 
@@ -151,9 +151,9 @@ void vpRobotPololuPtu::setPosition(const vpRobot::vpControlFrameType frame, cons
     break;
   }
 
-  float pos_vel = m_positioning_velocity_percentage * getMaxRotationVelocity();
-  m_pan.setAngularPosition(q[0], pos_vel);
-  m_tilt.setAngularPosition(q[1], pos_vel);
+  float pos_vel = m_positioning_velocity_percentage * static_cast<float>(getMaxRotationVelocity());
+  m_pan.setAngularPosition(static_cast<float>(q[0]), pos_vel);
+  m_tilt.setAngularPosition(static_cast<float>(q[1]), pos_vel);
 }
 
 void vpRobotPololuPtu::setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &q_dot)
@@ -227,8 +227,8 @@ void vpRobotPololuPtu::setVelocity(const vpRobot::vpControlFrameType frame, cons
 
   std::cout << "Send velocity: " << q_dot_sat.t() << std::endl;
 
-  m_pan.setAngularVelocity(q_dot_sat[0]);
-  m_tilt.setAngularVelocity(q_dot_sat[1]);
+  m_pan.setAngularVelocity(static_cast<float>(q_dot_sat[0]));
+  m_tilt.setAngularVelocity(static_cast<float>(q_dot_sat[1]));
 }
 
 vpRobot::vpRobotStateType vpRobotPololuPtu::setRobotState(vpRobot::vpRobotStateType newState)

modules/robot/test/servo-pololu/testPololuPosition.cpp

@@ -103,9 +103,9 @@ int main(int argc, const char **argv)
   bool opt_calibrate = false;
   unsigned short opt_pwm_min = 4000;
   unsigned short opt_pwm_max = 8000;
-  float opt_angle_min = vpMath::rad(-45);
-  float opt_angle_max = vpMath::rad(45);
-  float opt_positioning_velocity = vpMath::rad(10);
+  float opt_angle_min = static_cast<float>(vpMath::rad(-45));
+  float opt_angle_max = static_cast<float>(vpMath::rad(45));
+  float opt_positioning_velocity = static_cast<float>(vpMath::rad(10));
   float last_angle = 0;
   int time_s = 0;
 

modules/robot/test/servo-pololu/testPololuVelocity.cpp

@@ -101,9 +101,9 @@ int main(int argc, const char **argv)
   bool opt_calibrate = false;
   unsigned short opt_pwm_min = 4000;
   unsigned short opt_pwm_max = 8000;
-  float opt_angle_min = vpMath::rad(-45);
-  float opt_angle_max = vpMath::rad(45);
-  float opt_velocity = vpMath::rad(5);
+  float opt_angle_min = static_cast<float>(vpMath::rad(-45));
+  float opt_angle_max = static_cast<float>(vpMath::rad(45));
+  float opt_velocity = static_cast<float>(vpMath::rad(5));
   float last_angle = 0;
 
   for (int i = 1; i < argc; i++) {

tutorial/image/tutorial-canny.cpp

@@ -49,7 +49,7 @@ void computeMeanMaxStdev(const vpImage<T> &I, float &mean, float &max, float &st
   stdev = 0.;
   unsigned int nbRows = I.getRows();
   unsigned int nbCols = I.getCols();
-  float scale = 1. / ((float)nbRows * (float)nbCols);
+  float scale = 1.f / (static_cast<float>(nbRows) * static_cast<float>(nbCols));
   for (unsigned int r = 0; r < nbRows; r++) {
     for (unsigned int c = 0; c < nbCols; c++) {
       mean += I[r][c];
@@ -178,12 +178,12 @@ int main(int argc, const char *argv[])
     else if ((argv_str == "-g" || argv_str == "--gradient") && i + 2 < argc) {
       opt_gradientOutsideClass = true;
       opt_gaussianKernelSize = atoi(argv[i + 1]);
-      opt_gaussianStdev = atoi(argv[i + 2]);
+      opt_gaussianStdev = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-t" || argv_str == "--thresh") && i + 2 < argc) {
-      opt_lowerThresh = atof(argv[i + 1]);
-      opt_upperThresh = atof(argv[i + 2]);
+      opt_lowerThresh = static_cast<float>(atof(argv[i + 1]));
+      opt_upperThresh = static_cast<float>(atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-a" || argv_str == "--aperture") && i + 1 < argc) {
@@ -195,8 +195,8 @@ int main(int argc, const char *argv[])
       i++;
     }
     else if ((argv_str == "-r" || argv_str == "--ratio") && i + 2 < argc) {
-      opt_lowerThreshRatio = std::atof(argv[i + 1]);
-      opt_upperThreshRatio = std::atof(argv[i + 2]);
+      opt_lowerThreshRatio = static_cast<float>(std::atof(argv[i + 1]));
+      opt_upperThreshRatio = static_cast<float>(std::atof(argv[i + 2]));
       i += 2;
     }
     else if ((argv_str == "-b" || argv_str == "--backend") && i + 1 < argc) {

tutorial/imgproc/hough-transform/tutorial-circle-hough.cpp

@@ -191,11 +191,11 @@ int main(int argc, char **argv)
       i++;
     }
     else if (argName == "--lower-canny-ratio" && i + 1 < argc) {
-      opt_lowerCannyThreshRatio = atof(argv[i + 1]);
+      opt_lowerCannyThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--upper-canny-ratio" && i + 1 < argc) {
-      opt_upperCannyThreshRatio = atof(argv[i + 1]);
+      opt_upperCannyThreshRatio = static_cast<float>(atof(argv[i + 1]));
       i++;
     }
     else if (argName == "--expected-nb-centers" && i + 1 < argc) {
@@ -247,7 +247,7 @@ int main(int argc, char **argv)
       std::cout << "DESCRIPTION" << std::endl
         << "\t--input" << std::endl
         << "\t\tPermit to choose the input of the Hough Circle Algorithm." << std::endl
-        << "\t\tIf you want to use a succession of images as video, their name must be in the format ${BASENAME}\%d.{jpg, png}." << std::endl
+        << "\t\tIf you want to use a succession of images as video, their name must be in the format ${BASENAME}%d.{jpg, png}." << std::endl
         << "\t\tDefault: " << def_input << std::endl
         << std::endl
 #ifdef VISP_HAVE_NLOHMANN_JSON

tutorial/tracking/model-based/generic-rgbd/CMakeLists.txt

@@ -9,7 +9,7 @@ set(tutorial_cpp
   tutorial-mb-generic-tracker-rgbd.cpp
   tutorial-mb-generic-tracker-rgbd-realsense.cpp
   tutorial-mb-generic-tracker-rgbd-structure-core.cpp
-  tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp)
+  tutorial-mb-generic-tracker-rgbd-realsense-json.cpp)
 
 foreach(cpp ${tutorial_cpp})
   visp_add_target(${cpp})

tutorial/tracking/model-based/generic-rgbd/tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp → tutorial/tracking/model-based/generic-rgbd/tutorial-mb-generic-tracker-rgbd-realsense-json.cpp

@@ -1,4 +1,4 @@
-//! \example tutorial-mb-generic-tracker-rgbd-realsense-json-settings.cpp
+//! \example tutorial-mb-generic-tracker-rgbd-realsense-json.cpp
 #include <iostream>
 
 #include <visp3/core/vpConfig.h>