i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compilation warning of not used variables when some odom approaches are not supported

Browse Source
This commit is contained in:
matlabbe
2017-09-11 14:00:08 -04:00
parent aca005c287
commit 1ae15911fc
8 changed files with 23 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
corelib/src/OdometryDVO.cpp
View File

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryDVO.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
@@ -43,10 +42,12 @@ namespace rtabmap {
OdometryDVO::OdometryDVO(const ParametersMap & parameters) :
Odometry(parameters),
#ifdef RTABMAP_DVO
dvo_(0),
reference_(0),
camera_(0),
lost_(false),
#endif
motionFromKeyFrame_(Transform::getIdentity())
{
}

6
corelib/src/OdometryFovis.cpp
View File

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryFovis.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
@@ -40,13 +39,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace rtabmap {
OdometryFovis::OdometryFovis(const ParametersMap & parameters) :
Odometry(parameters),
Odometry(parameters)
#ifdef RTABMAP_FOVIS
,
fovis_(0),
rect_(0),
stereoCalib_(0),
depthImage_(0),
stereoDepth_(0),
lost_(false)
#endif
{
fovisParameters_ = Parameters::filterParameters(parameters, "OdomFovis");
if(parameters.find(Parameters::kOdomVisKeyFrameThr()) != parameters.end())

6
corelib/src/OdometryORBSLAM2.cpp
View File

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryORBSLAM2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/core/util3d_transforms.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
@@ -746,10 +745,13 @@ public:
namespace rtabmap {
OdometryORBSLAM2::OdometryORBSLAM2(const ParametersMap & parameters) :
Odometry(parameters),
Odometry(parameters)
#ifdef RTABMAP_ORB_SLAM2
,
orbslam2_(0),
system_(0),
firstFrame_(true)
#endif
{
#ifdef RTABMAP_ORB_SLAM2
orbslam2_ = new ORBSLAM2System(parameters);

5
corelib/src/OdometryViso2.cpp
View File

@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
@@ -53,15 +52,19 @@ namespace rtabmap {
OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
Odometry(parameters),
#ifdef RTABMAP_VISO2
viso2_(0),
ref_frame_change_method_(0),
ref_frame_inlier_threshold_(Parameters::defaultOdomVisKeyFrameThr()),
ref_frame_motion_threshold_(5.0),
lost_(false),
keep_reference_frame_(false),
#endif
reference_motion_(Transform::getIdentity())
{
#ifdef RTABMAP_VISO2
Parameters::parse(parameters, Parameters::kOdomVisKeyFrameThr(), ref_frame_inlier_threshold_);
#endif
viso2Parameters_ = Parameters::filterParameters(parameters, "OdomViso2");
}