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Okvis: removed some compilation warnings when not built with okvis

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matlabbe
2018-03-23 14:54:49 -04:00
parent 4f6ab68318
commit 9cfdc00d64
2 changed files with 3 additions and 3 deletions
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2
corelib/include/rtabmap/core/OdometryOkvis.h
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@@ -52,8 +52,10 @@ private:
private: private:
std::string configFilename_; std::string configFilename_;
#ifdef RTABMAP_OKVIS
OkvisCallbackHandler * okvisCallbackHandler_; OkvisCallbackHandler * okvisCallbackHandler_;
okvis::ThreadedKFVio * okvisEstimator_; okvis::ThreadedKFVio * okvisEstimator_;
#endif
ParametersMap okvisParameters_; ParametersMap okvisParameters_;
IMU lastImu_; // only used for initialization IMU lastImu_; // only used for initialization
int imagesProcessed_; int imagesProcessed_;

4
corelib/src/OdometryOkvis.cpp
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@@ -130,10 +130,8 @@ OdometryOkvis::OdometryOkvis(const ParametersMap & parameters) :
Odometry(parameters), Odometry(parameters),
#ifdef RTABMAP_OKVIS #ifdef RTABMAP_OKVIS
okvisCallbackHandler_(new OkvisCallbackHandler), okvisCallbackHandler_(new OkvisCallbackHandler),
#else
okvisCallbackHandler_(0),
#endif
okvisEstimator_(0), okvisEstimator_(0),
#endif
okvisParameters_(parameters), okvisParameters_(parameters),
imagesProcessed_(0) imagesProcessed_(0)
{ {