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Fixed some signed/unsigned comparison warnings

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matlabbe
2016-02-23 11:06:24 -05:00
parent af37b4b746
commit 9e446aab7a
5 changed files with 15 additions and 14 deletions
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1
corelib/include/rtabmap/core/OdometryInfo.h
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <map> #include <map>
#include "rtabmap/core/Transform.h" #include "rtabmap/core/Transform.h"
#include <opencv2/features2d/features2d.hpp>
namespace rtabmap { namespace rtabmap {

2
corelib/src/Memory.cpp
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@@ -3175,7 +3175,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
UASSERT(descriptors.empty() || descriptors.rows == (int)keypoints.size()); UASSERT(descriptors.empty() || descriptors.rows == (int)keypoints.size());
if(keypoints.size() > _feature2D->getMaxFeatures()) if((int)keypoints.size() > _feature2D->getMaxFeatures())
{ {
_feature2D->limitKeypoints(keypoints, descriptors, _feature2D->getMaxFeatures()); _feature2D->limitKeypoints(keypoints, descriptors, _feature2D->getMaxFeatures());
} }

2
corelib/src/OdometryF2M.cpp
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@@ -232,7 +232,7 @@ Transform OdometryF2M::computeTransform(
} }
// remove words in map if max size is reached // remove words in map if max size is reached
if(mapPoints.size() > maximumMapSize_) if((int)mapPoints.size() > maximumMapSize_)
{ {
// remove oldest first, keep matched features // remove oldest first, keep matched features
std::set<int> matches(regInfo.matchesIDs.begin(), regInfo.matchesIDs.end()); std::set<int> matches(regInfo.matchesIDs.begin(), regInfo.matchesIDs.end());

22
corelib/src/RegistrationVis.cpp
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@@ -459,7 +459,7 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("kptsTo=%d", (int)kptsTo.size()); UDEBUG("kptsTo=%d", (int)kptsTo.size());
cv::Mat descriptorsFrom; cv::Mat descriptorsFrom;
if((kptsFrom.empty() && fromSignature.getWordsDescriptors().size()) || if((kptsFrom.empty() && fromSignature.getWordsDescriptors().size()) ||
fromSignature.getWordsDescriptors().size() == (int)kptsFrom.size()) fromSignature.getWordsDescriptors().size() == kptsFrom.size())
{ {
descriptorsFrom = cv::Mat(fromSignature.getWordsDescriptors().size(), descriptorsFrom = cv::Mat(fromSignature.getWordsDescriptors().size(),
fromSignature.getWordsDescriptors().begin()->second.cols, fromSignature.getWordsDescriptors().begin()->second.cols,
@@ -484,7 +484,7 @@ Transform RegistrationVis::computeTransformationImpl(
cv::Mat descriptorsTo; cv::Mat descriptorsTo;
if(kptsTo.size()) if(kptsTo.size())
{ {
if(toSignature.getWordsDescriptors().size() == (int)kptsTo.size()) if(toSignature.getWordsDescriptors().size() == kptsTo.size())
{ {
descriptorsTo = cv::Mat(toSignature.getWordsDescriptors().size(), descriptorsTo = cv::Mat(toSignature.getWordsDescriptors().size(),
toSignature.getWordsDescriptors().begin()->second.cols, toSignature.getWordsDescriptors().begin()->second.cols,
@@ -543,7 +543,7 @@ Transform RegistrationVis::computeTransformationImpl(
if(guessSet) if(guessSet)
{ {
UDEBUG(""); UDEBUG("");
UASSERT(kptsTo.size() == descriptorsTo.rows); UASSERT((int)kptsTo.size() == descriptorsTo.rows);
// Use guess to project 3D "from" keypoints into "to" image // Use guess to project 3D "from" keypoints into "to" image
std::vector<cv::Point2f> cornersProjected; std::vector<cv::Point2f> cornersProjected;
@@ -589,18 +589,18 @@ Transform RegistrationVis::computeTransformationImpl(
rtflann::Matrix<float> cornersProjectedMat((float*)cornersProjected.data(), cornersProjected.size(), 2); rtflann::Matrix<float> cornersProjectedMat((float*)cornersProjected.data(), cornersProjected.size(), 2);
index.radiusSearch(cornersProjectedMat, indices, dists, radius*radius, rtflann::SearchParams()); index.radiusSearch(cornersProjectedMat, indices, dists, radius*radius, rtflann::SearchParams());
UASSERT((int)indices.size() == cornersProjectedMat.rows); UASSERT(indices.size() == cornersProjectedMat.rows);
UASSERT(descriptorsFrom.cols == descriptorsTo.cols); UASSERT(descriptorsFrom.cols == descriptorsTo.cols);
UASSERT(cornersProjectedMat.rows == descriptorsFrom.rows); UASSERT((int)cornersProjectedMat.rows == descriptorsFrom.rows);
UASSERT(kptsFrom.empty() || cornersProjectedMat.rows == (int)kptsFrom.size()); UASSERT(kptsFrom.empty() || cornersProjectedMat.rows == kptsFrom.size());
UASSERT(kptsFrom3D.empty() || cornersProjectedMat.rows == (int)kptsFrom3D.size()); UASSERT(kptsFrom3D.empty() || cornersProjectedMat.rows == kptsFrom3D.size());
UDEBUG(""); UDEBUG("");
// Process results (Nearest Neighbor Distance Ratio) // Process results (Nearest Neighbor Distance Ratio)
int notMatchedUniqueId = cornersProjectedMat.rows; int notMatchedUniqueId = cornersProjectedMat.rows;
std::set<int> addedWordsTo; std::set<int> addedWordsTo;
for(int i = 0; i < cornersProjectedMat.rows; ++i) for(unsigned int i = 0; i < cornersProjectedMat.rows; ++i)
{ {
int matchedIndex = -1; int matchedIndex = -1;
if(indices[i].size() >= 2) if(indices[i].size() >= 2)
@@ -703,7 +703,7 @@ Transform RegistrationVis::computeTransformationImpl(
UASSERT(kptsFrom.empty() || fromWordIds.size() == kptsFrom.size()); UASSERT(kptsFrom.empty() || fromWordIds.size() == kptsFrom.size());
UASSERT(kptsFrom3D.empty() || fromWordIds.size() == kptsFrom3D.size()); UASSERT(kptsFrom3D.empty() || fromWordIds.size() == kptsFrom3D.size());
UASSERT(fromWordIds.size() == descriptorsFrom.rows); UASSERT(int(fromWordIds.size()) == descriptorsFrom.rows);
int i=0; int i=0;
for(std::list<int>::iterator iter=fromWordIds.begin(); iter!=fromWordIds.end(); ++iter) for(std::list<int>::iterator iter=fromWordIds.begin(); iter!=fromWordIds.end(); ++iter)
{ {
@@ -723,7 +723,7 @@ Transform RegistrationVis::computeTransformationImpl(
} }
UASSERT(kptsTo3D.size() == 0 || kptsTo3D.size() == kptsTo.size()); UASSERT(kptsTo3D.size() == 0 || kptsTo3D.size() == kptsTo.size());
UASSERT(toWordIds.size() == kptsTo.size()); UASSERT(toWordIds.size() == kptsTo.size());
UASSERT(toWordIds.size() == descriptorsTo.rows); UASSERT(int(toWordIds.size()) == descriptorsTo.rows);
i=0; i=0;
for(std::list<int>::iterator iter=toWordIds.begin(); iter!=toWordIds.end(); ++iter) for(std::list<int>::iterator iter=toWordIds.begin(); iter!=toWordIds.end(); ++iter)
{ {
@@ -743,7 +743,7 @@ Transform RegistrationVis::computeTransformationImpl(
else if(descriptorsFrom.rows) else if(descriptorsFrom.rows)
{ {
//just create fake words //just create fake words
UASSERT(kptsFrom.size() == descriptorsFrom.rows); UASSERT(int(kptsFrom.size()) == descriptorsFrom.rows);
UASSERT(words3From.empty() || kptsFrom.size() == words3From.size()); UASSERT(words3From.empty() || kptsFrom.size() == words3From.size());
for(unsigned int i=0; i<kptsFrom.size(); ++i) for(unsigned int i=0; i<kptsFrom.size(); ++i)
{ {

2
corelib/src/VWDictionary.cpp
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@@ -1258,7 +1258,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & query) const
} }
ULOGGER_DEBUG("Search not yet indexed words time = %fs", timer.ticks()); ULOGGER_DEBUG("Search not yet indexed words time = %fs", timer.ticks());
for(unsigned int i=0; i<query.rows; ++i) for(int i=0; i<query.rows; ++i)
{ {
std::multimap<float, int> fullResults; // Contains results from the kd-tree search [and the naive search in new words] std::multimap<float, int> fullResults; // Contains results from the kd-tree search [and the naive search in new words]
if(!bruteForce && dists.cols) if(!bruteForce && dists.cols)