Warning fixes for quaternion headers#21319
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alalek merged 2 commits intoopencv:4.xfrom Dec 24, 2021
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Dec 22, 2021
| Quat<T> r = Quat<T>::createFromAngleAxis(angle, axis); | ||
| Quat<T> t{0, trans[0], trans[1], trans[2]}; | ||
| return createFromQuat(r, t * r / 2); | ||
| return createFromQuat(r, t * r / T(2.0)); |
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Makes sense, fixed to * 0.5
| inline Vec<T, 3> DualQuat<T>::getTranslation(QuatAssumeType assumeUnit) const | ||
| { | ||
| Quat<T> trans = 2.0 * (getDualPart() * getRealPart().inv(assumeUnit)); | ||
| Quat<T> trans = T(2.0) * (getDualPart() * getRealPart().inv(assumeUnit)); |
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T type can be float or double, so what's the point of using f postfix?
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f suffix makes number of float type.
AFAIK, there is no issues with both operations float*float or float*double (the second result is double).
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It's understood; the problem is that this is not float*float or float*double, this is float*Quat<T> where T can be both.
No wonder using 2.0f breaks compilation on my machine (fails to find corresponding operator).
I propose to leave this code as it is now.
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Warning fixes for quaternion headers * warning fixes for quaternion headers * a/T(x) => a * T(1/x)
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Backport to 4.x from #21018
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Patch to opencv_extra has the same branch name.