Merge pull request #21319 from savuor:backport_levmarqfromscratch

Warning fixes for quaternion headers

* warning fixes for quaternion headers

* a/T(x) => a * T(1/x)

modules/core/include/opencv2/core/dualquaternion.inl.hpp

@@ -65,7 +65,7 @@ DualQuat<T> DualQuat<T>::createFromAngleAxisTrans(const T angle, const Vec<T, 3>
 {
     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(0.5));
 }
 
 template <typename T>
@@ -79,7 +79,7 @@ DualQuat<T> DualQuat<T>::createFromMat(InputArray _R)
     Mat R = _R.getMat();
     Quat<T> r = Quat<T>::createFromRotMat(R.colRange(0, 3).rowRange(0, 3));
     Quat<T> trans(0, R.at<T>(0, 3), R.at<T>(1, 3), R.at<T>(2, 3));
-    return createFromQuat(r, trans * r / 2);
+    return createFromQuat(r, trans * r * T(0.5));
 }
 
 template <typename T>
@@ -91,7 +91,7 @@ DualQuat<T> DualQuat<T>::createFromAffine3(const Affine3<T> &R)
 template <typename T>
 DualQuat<T> DualQuat<T>::createFromPitch(const T angle, const T d, const Vec<T, 3> &axis, const Vec<T, 3> &moment)
 {
-    T half_angle = angle / 2, half_d = d / 2;
+    T half_angle = angle * T(0.5), half_d = d * T(0.5);
     Quat<T> qaxis = Quat<T>(0, axis[0], axis[1], axis[2]).normalize();
     Quat<T> qmoment = Quat<T>(0, moment[0], moment[1], moment[2]);
     qmoment -= qaxis * axis.dot(moment);
@@ -158,7 +158,7 @@ inline Quat<T> DualQuat<T>::getRotation(QuatAssumeType assumeUnit) const
 template <typename T>
 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));
     return Vec<T, 3>{trans[1], trans[2], trans[3]};
 }
 
@@ -320,8 +320,8 @@ template <typename _Tp>
 Matx<_Tp, 4, 4> jacob_exp(const Quat<_Tp> &q)
 {
     _Tp nv = std::sqrt(q.x * q.x + q.y * q.y + q.z * q.z);
-    _Tp sinc_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS ? 1 - nv * nv / 6 : std::sin(nv) / nv;
-    _Tp csiii_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS ? -(_Tp)1.0 / 3 : (std::cos(nv) - sinc_nv) / nv / nv;
+    _Tp sinc_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS ? _Tp(1.0) - nv * nv * _Tp(1.0/6.0) : std::sin(nv) / nv;
+    _Tp csiii_nv = abs(nv) < cv::DualQuat<_Tp>::CV_DUAL_QUAT_EPS ? -_Tp(1.0/3.0) : (std::cos(nv) - sinc_nv) / nv / nv;
     Matx<_Tp, 4, 4> J_exp_quat {
         std::cos(nv), -sinc_nv * q.x,  -sinc_nv * q.y,  -sinc_nv * q.z,
         sinc_nv * q.x, csiii_nv * q.x * q.x + sinc_nv, csiii_nv * q.x * q.y, csiii_nv * q.x * q.z,

modules/core/include/opencv2/core/quaternion.inl.hpp

@@ -54,7 +54,7 @@ Quat<T> Quat<T>::createFromAngleAxis(const T angle, const Vec<T, 3> &axis)
     {
         CV_Error(Error::StsBadArg, "this quaternion does not represent a rotation");
     }
-    const T angle_half = angle * 0.5;
+    const T angle_half = angle * T(0.5);
     w = std::cos(angle_half);
     const T sin_v = std::sin(angle_half);
     const T sin_norm = sin_v / vNorm;
@@ -79,35 +79,35 @@ Quat<T> Quat<T>::createFromRotMat(InputArray _R)
     T trace = R(0, 0) + R(1, 1) + R(2, 2);
     if (trace > 0)
     {
-        S = std::sqrt(trace + 1) * 2;
+        S = std::sqrt(trace + 1) * T(2);
         x = (R(1, 2) - R(2, 1)) / S;
         y = (R(2, 0) - R(0, 2)) / S;
         z = (R(0, 1) - R(1, 0)) / S;
-        w = -0.25 * S;
+        w = -T(0.25) * S;
     }
     else if (R(0, 0) > R(1, 1) && R(0, 0) > R(2, 2))
     {
 
-        S = std::sqrt(1.0 + R(0, 0) - R(1, 1) - R(2, 2)) * 2;
-        x = -0.25 * S;
+        S = std::sqrt(T(1.0) + R(0, 0) - R(1, 1) - R(2, 2)) * T(2);
+        x = -T(0.25) * S;
         y = -(R(1, 0) + R(0, 1)) / S;
         z = -(R(0, 2) + R(2, 0)) / S;
         w = (R(1, 2) - R(2, 1)) / S;
     }
     else if (R(1, 1) > R(2, 2))
     {
-        S = std::sqrt(1.0 - R(0, 0) + R(1, 1) - R(2, 2)) * 2;
+        S = std::sqrt(T(1.0) - R(0, 0) + R(1, 1) - R(2, 2)) * T(2);
         x = (R(0, 1) + R(1, 0)) / S;
-        y = 0.25 * S;
+        y = T(0.25) * S;
         z = (R(1, 2) + R(2, 1)) / S;
         w = (R(0, 2) - R(2, 0)) / S;
     }
     else
     {
-        S = std::sqrt(1.0 - R(0, 0) - R(1, 1) + R(2, 2)) * 2;
+        S = std::sqrt(T(1.0) - R(0, 0) - R(1, 1) + R(2, 2)) * T(2);
         x = (R(0, 2) + R(2, 0)) / S;
         y = (R(1, 2) + R(2, 1)) / S;
-        z = 0.25 * S;
+        z = T(0.25) * S;
         w = -(R(0, 1) - R(1, 0)) / S;
     }
     return Quat<T> (w, x, y, z);
@@ -268,7 +268,7 @@ inline Quat<T>& Quat<T>::operator/=(const T a)
 template <typename T>
 inline Quat<T> Quat<T>::operator/(const T a) const
 {
-    const T a_inv = 1.0 / a;
+    const T a_inv = T(1.0) / a;
     return Quat<T>(w * a_inv, x * a_inv, y * a_inv, z * a_inv);
 }