clean warnings in perception/camera (ApolloAuto#2192)

wei07283091 · Dec 13, 2018 · 91898d3 · 91898d3
1 parent 8d55ae2
commit 91898d3
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Showing 6 changed files with 18 additions and 13 deletions.
diff --git a/modules/perception/camera/common/camera_ground_plane.h b/modules/perception/camera/common/camera_ground_plane.h
@@ -202,7 +202,7 @@ void GroundFittingCostFunc(const T *p,
   const T *refp = d;
   for (int i = 0; i < n; ++i) {
     T d_proj = refx[0] * p[0] + p[1];
-    T proj_err = fabs(d_proj - refp[0]);
+    T proj_err = static_cast<T>(fabs(d_proj - refp[0]));
     if (proj_err < error_tol) {
       inliers[(*nr_inlier)++] = i;
       *cost += proj_err;

diff --git a/modules/perception/camera/common/math_functions.h b/modules/perception/camera/common/math_functions.h
@@ -23,11 +23,13 @@ namespace camera {
 
 template<typename Dtype>
 inline Dtype sigmoid(Dtype x) {
-  return 1.0 / (1.0 + exp(-x));
+  return static_cast<Dtype>(1.0) /
+         static_cast<Dtype>(1.0 + exp(static_cast<double>(-x)));
 }
 template<typename Dtype>
 inline Dtype gaussian(Dtype x, Dtype mu, Dtype sigma) {
-  return std::exp(-(x - mu) * (x - mu) / (2 * sigma * sigma));
+  return static_cast<Dtype>(std::exp(-(x - mu) * (x - mu) /
+                                     (2 * sigma * sigma)));
 }
 template<typename Dtype>
 Dtype sqr(Dtype x) {

diff --git a/modules/perception/camera/lib/calibrator/common/histogram_estimator.h b/modules/perception/camera/lib/calibrator/common/histogram_estimator.h
@@ -57,9 +57,9 @@ struct HistogramEstimatorParams {
     data_ep = params.data_ep;
     assert(nr_bins_in_histogram > 0 && data_ep > data_sp);
 
-    step_bin = (data_ep - data_sp) / nr_bins_in_histogram;
+    step_bin = (data_ep - data_sp) / static_cast<float>(nr_bins_in_histogram);
 
-    int w = params.smooth_kernel.size();
+    int w = static_cast<int>(params.smooth_kernel.size());
     assert(w >= 1);
     smooth_kernel_width = w;
     smooth_kernel.resize(smooth_kernel_width);
@@ -149,7 +149,8 @@ class HistogramEstimator {
   }
 
   float GetValFromIndex(int index) const {
-    return (params_.data_sp + (index + 0.5f) * params_.step_bin);
+    return (params_.data_sp +
+            (static_cast<float>(index) + 0.5f) * params_.step_bin);
   }
 
   void Smooth(const uint32_t *hist_input, int nr_bins,
@@ -163,7 +164,7 @@ class HistogramEstimator {
   void Decay(uint32_t *hist, int nr_bins) {
     float df = params_.decay_factor;
     for (int i = 0; i < nr_bins; ++i) {
-      hist[i] = static_cast<uint32_t>(hist[i] * df);
+      hist[i] = static_cast<uint32_t>(static_cast<float>(hist[i]) * df);
     }
   }
 

diff --git a/modules/perception/camera/lib/calibrator/laneline/lane_based_calibrator.h b/modules/perception/camera/lib/calibrator/laneline/lane_based_calibrator.h
@@ -115,7 +115,7 @@ class LaneBasedCalibrator {
   }
 
   bool IsTravelingStraight(const float &vehicle_yaw_changed) const {
-    float abs_yaw = fabs(vehicle_yaw_changed);
+    float abs_yaw = static_cast<float>(fabs(vehicle_yaw_changed));
     return abs_yaw < params_.max_allowed_yaw_angle_in_radian;
   }
 

diff --git a/modules/perception/camera/lib/obstacle/transformer/multicue/obj_mapper.h b/modules/perception/camera/lib/obstacle/transformer/multicue/obj_mapper.h
@@ -166,10 +166,12 @@ class ObjMapper {
                  float *x /*init outside*/) const;
 
   void FillRyScoreSingleBin(const float &ry) {
-    int nr_bins_ry = ry_score_.size();
+    int nr_bins_ry = static_cast<int>(ry_score_.size());
     memset(ry_score_.data(), 0, sizeof(float) * nr_bins_ry);
     const float PI = common::Constant<float>::PI();
-    int index = std::floor((ry + PI) * nr_bins_ry / (2 * PI));
+    int index = static_cast<int>(std::floor((ry + PI) *
+                                            static_cast<float>(nr_bins_ry) /
+                                            (2.0f * PI)));
     ry_score_[index % nr_bins_ry] = 1.0f;
   }
 

diff --git a/modules/perception/camera/lib/traffic_light/tracker/semantic_decision.h b/modules/perception/camera/lib/traffic_light/tracker/semantic_decision.h
@@ -69,9 +69,9 @@ class SemanticReviser : public BaseTrafficLightTracker {
 
  private:
   traffic_light::tracker::SemanticReviseParam semantic_param_;
-  float revise_time_s_ = 1.5;
-  float blink_threshold_s_ = 0.4;
-  float non_blink_threshold_s_ = 0.8;
+  float revise_time_s_ = 1.5f;
+  float blink_threshold_s_ = 0.4f;
+  float non_blink_threshold_s_ = 0.8f;
   int hysteretic_threshold_ = 1;
   std::vector<SemanticTable> history_semantic_;
 };