i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-03 01:50:24 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed some compilation warnings

Browse Source
This commit is contained in:
matlabbe
2017-04-06 12:41:16 -04:00
parent 1d8952867d
commit 6ca3b8246a
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
corelib/src/util3d_mapping.cpp
View File

@@ -57,6 +57,7 @@ void occupancy2DFromLaserScan(
cv::Point3f viewpoint(0,0,0); cv::Point3f viewpoint(0,0,0);
occupancy2DFromLaserScan( occupancy2DFromLaserScan(
scan, scan,
cv::Mat(),
viewpoint, viewpoint,
ground, ground,
obstacles, obstacles,
@@ -635,7 +636,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
cv::Point2i start(((pose.x()+viewpoint.x)-xMin)/cellSize, ((pose.y()+viewpoint.y)-yMin)/cellSize); cv::Point2i start(((pose.x()+viewpoint.x)-xMin)/cellSize, ((pose.y()+viewpoint.y)-yMin)/cellSize);
// Set obstacles first // Set obstacles first
for(unsigned int i=0; i<iter->second.first.cols; ++i) for(int i=0; i<iter->second.first.cols; ++i)
{ {
const float * ptr = iter->second.first.ptr<float>(0, i); const float * ptr = iter->second.first.ptr<float>(0, i);
cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize); cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);
@@ -646,7 +647,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
} }
// ray tracing for hits // ray tracing for hits
for(unsigned int i=0; i<iter->second.first.cols; ++i) for(int i=0; i<iter->second.first.cols; ++i)
{ {
const float * ptr = iter->second.first.ptr<float>(0, i); const float * ptr = iter->second.first.ptr<float>(0, i);
cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize); cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);
@@ -659,7 +660,7 @@ cv::Mat create2DMap(const std::map<int, Transform> & poses,
} }
} }
// ray tracing for no hits // ray tracing for no hits
for(unsigned int i=0; i<iter->second.second.cols; ++i) for(int i=0; i<iter->second.second.cols; ++i)
{ {
const float * ptr = iter->second.second.ptr<float>(0, i); const float * ptr = iter->second.second.ptr<float>(0, i);
cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize); cv::Point2i end((ptr[0]-xMin)/cellSize, (ptr[1]-yMin)/cellSize);