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

corelib/include/rtabmap/core/OdometryDVO.h

@@ -53,10 +53,12 @@ private:
 	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
 private:
+#ifdef RTABMAP_DVO
 	dvo::DenseTracker * dvo_;
 	dvo::core::RgbdImagePyramid * reference_;
 	dvo::core::RgbdCameraPyramid * camera_;
 	bool lost_;
+#endif
 	Transform motionFromKeyFrame_;
 	Transform previousLocalTransform_;
 

corelib/include/rtabmap/core/OdometryFovis.h

@@ -53,13 +53,15 @@ private:
 	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
 private:
+#ifdef RTABMAP_FOVIS
 	fovis::VisualOdometry * fovis_;
 	fovis::Rectification * rect_;
 	fovis::StereoCalibration * stereoCalib_;
 	fovis::DepthImage * depthImage_;
 	fovis::StereoDepth * stereoDepth_;
-	ParametersMap fovisParameters_;
 	bool lost_;
+#endif
+	ParametersMap fovisParameters_;
 	Transform previousLocalTransform_;
 };
 

corelib/include/rtabmap/core/OdometryORBSLAM2.h

@@ -51,9 +51,11 @@ private:
 	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
 private:
+#ifdef RTABMAP_ORB_SLAM2
 	ORBSLAM2System * orbslam2_;
 	ORB_SLAM2::System * system_;
 	bool firstFrame_;
+#endif
 	Transform originLocalTransform_;
 
 };

corelib/include/rtabmap/core/OdometryViso2.h

@@ -47,12 +47,14 @@ private:
 	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
 
 private:
+#ifdef RTABMAP_VISO2
 	VisualOdometryStereo * viso2_;
 	int ref_frame_change_method_;       // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
 	int ref_frame_inlier_threshold_;    // method 0. Change the reference frame if the number of inliers is low
 	double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
 	bool lost_;
 	bool keep_reference_frame_;
+#endif
 	Transform reference_motion_;
 	Transform previousLocalTransform_;
 	ParametersMap viso2Parameters_;

corelib/src/OdometryDVO.cpp

@@ -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())
 {
 }

corelib/src/OdometryFovis.cpp

@@ -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())

corelib/src/OdometryORBSLAM2.cpp

@@ -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);

corelib/src/OdometryViso2.cpp

@@ -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");
 }