Merge branch 'main' into jp/upgrade-ubuntu-22.04

mapillary · Mar 22, 2024 · 71f3357 · 71f3357
2 parents 19f08ce + c724192
commit 71f3357
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Showing 6 changed files with 9 additions and 7 deletions.
diff --git a/opensfm/commands/__init__.py b/opensfm/commands/__init__.py
@@ -24,6 +24,7 @@
     reconstruct_from_prior,
     undistort,
 )
+# pyre-fixme[21]: Could not find module `opensfm.commands.command_runner`.
 from .command_runner import command_runner
 
 

diff --git a/opensfm/src/dense/src/depthmap.cc b/opensfm/src/dense/src/depthmap.cc
@@ -126,7 +126,8 @@ cv::Vec3f PlaneFromDepthAndNormal(float x, float y, const cv::Matx33d &K,
 }
 
 float UniformRand(float a, float b) {
-  return a + (b - a) * float(rand()) / RAND_MAX;
+  // Note that float(RAND_MAX) cannot be exactly represented as a float. We ignore the small inaccuracy here; this is already a bad way to get random numbers.
+  return a + (b - a) * float(rand()) / static_cast<float>(RAND_MAX);
 }
 
 DepthmapEstimator::DepthmapEstimator()

diff --git a/opensfm/src/features/src/matching.cc b/opensfm/src/features/src/matching.cc
@@ -41,8 +41,8 @@ void MatchUsingWords(const cv::Mat &f1, const cv::Mat &w1, const cv::Mat &f2,
   }
 
   std::vector<int> best_match(f1.rows, -1), second_best_match(f1.rows, -1);
-  std::vector<float> best_distance(f1.rows, 99999999),
-      second_best_distance(f1.rows, 99999999);
+  std::vector<float> best_distance(f1.rows, std::numeric_limits<float>::infinity());
+  std::vector<float> second_best_distance(f1.rows, std::numeric_limits<float>::infinity());
   *matches = cv::Mat(0, 2, CV_32S);
   cv::Mat tmp_match(1, 2, CV_32S);
   for (unsigned int i = 0; i < w1.rows; ++i) {

diff --git a/opensfm/src/geometry/relative_pose.h b/opensfm/src/geometry/relative_pose.h
@@ -87,7 +87,8 @@ struct RelativePoseCost {
     std::srand(42);
     const int count = end_ - begin_;
     for (int i = 0; i < MAX_ERRORS; ++i) {
-      const int index = (float(std::rand()) / RAND_MAX) * count;
+      // Note that float(RAND_MAX) cannot be exactly represented as a float. We ignore the small inaccuracy here; this is already a bad way to get random numbers.
+      const int index = (float(std::rand()) / static_cast<float>(RAND_MAX)) * count;
       picked_errors_.push_back(begin_ + index);
     }
   }

diff --git a/opensfm/src/geometry/src/camera.cc b/opensfm/src/geometry/src/camera.cc
@@ -366,7 +366,7 @@ MatX2d Camera::PixelToNormalizedCoordinatesMany(const MatX2d& px_coords,
     norm_coords.row(i) =
         PixelToNormalizedCoordinates(px_coords.row(i), width, height);
   }
-  return px_coords;
+  return norm_coords;
 }
 
 Vec2d Camera::NormalizedToPixelCoordinates(const Vec2d& norm_coord) const {

diff --git a/opensfm/src/third_party/akaze/lib/AKAZE.cpp b/opensfm/src/third_party/akaze/lib/AKAZE.cpp
@@ -269,7 +269,7 @@ void AKAZE::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
   double t1 = 0.0, t2 = 0.0;
   float value = 0.0;
   float dist = 0.0, ratio = 0.0, smax = 0.0;
-  int npoints = 0, id_repeated = 0;
+  int id_repeated = 0;
   int sigma_size_ = 0, left_x = 0, right_x = 0, up_y = 0, down_y = 0;
   bool is_extremum = false, is_repeated = false, is_out = false;
   cv::KeyPoint point;
@@ -357,7 +357,6 @@ void AKAZE::Find_Scale_Space_Extrema(std::vector<cv::KeyPoint>& kpts) {
                 point.pt.x *= ratio;
                 point.pt.y *= ratio;
                 kpts_aux.push_back(point);
-                npoints++;
               }
               else {
                 point.pt.x *= ratio;