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fixed warnings

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matlabbe
2016-03-07 15:03:17 -05:00
parent 7a1cf84b08
commit 3ff4b4c439
2 changed files with 4 additions and 2 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -331,10 +331,12 @@ class RTABMAP_EXP Parameters
// Graph optimization // Graph optimization
#ifdef RTABMAP_GTSAM #ifdef RTABMAP_GTSAM
RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM."); RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
#elif RTABMAP_G2O #else
#ifdef RTABMAP_G2O
RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM."); RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
#else #else
RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM."); RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
#endif
#endif #endif
RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations."); RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
RTABMAP_PARAM(Optimizer, Slam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses."); RTABMAP_PARAM(Optimizer, Slam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses.");

2
corelib/src/Memory.cpp
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@@ -3107,7 +3107,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
} }
std::vector<cv::Point3f> keypoints3D; std::vector<cv::Point3f> keypoints3D;
if(!_useOdometryFeatures || data.keypoints().empty() || data.keypoints().size() != data.descriptors().rows) if(!_useOdometryFeatures || data.keypoints().empty() || (int)data.keypoints().size() != data.descriptors().rows)
{ {
if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode) if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
{ {