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Fixed all -Wtype-limits warnings

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matlabbe
2024-11-15 14:13:13 -08:00
parent 966feefb35
commit a584245029
9 changed files with 107 additions and 107 deletions
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20
corelib/src/global_map/OccupancyGrid.cpp
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@@ -66,7 +66,7 @@ void OccupancyGrid::setMap(const cv::Mat & map, float xMin, float yMin, float ce
{
for(int j=0; j<map_.cols; ++j)
{
const char value = map_.at<char>(i,j);
const char value = map_.at<signed char>(i,j);
float * info = mapInfo_.ptr<float>(i,j);
if(value == 0)
{
@@ -116,15 +116,15 @@ cv::Mat OccupancyGrid::getMap(float & xMin, float & yMin) const
const float * info = mapInfo_.ptr<float>(i, j);
if(info[3] == 0.0f)
{
map.at<char>(i, j) = -1; // unknown
map.at<signed char>(i, j) = -1; // unknown
}
else if(info[3] >= occThr)
{
map.at<char>(i, j) = 100; // unknown
map.at<signed char>(i, j) = 100; // unknown
}
else
{
map.at<char>(i, j) = 0; // empty
map.at<signed char>(i, j) = 0; // empty
}
}
}
@@ -155,11 +155,11 @@ cv::Mat OccupancyGrid::getProbMap(float & xMin, float & yMin) const
const float * info = mapInfo_.ptr<float>(i, j);
if(info[3] == 0.0f)
{
map.at<char>(i, j) = -1; // unknown
map.at<signed char>(i, j) = -1; // unknown
}
else
{
map.at<char>(i, j) = char(probability(info[3])*100.0f); // empty
map.at<signed char>(i, j) = char(probability(info[3])*100.0f); // empty
}
}
}
@@ -447,7 +447,7 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
UASSERT_MSG(pt.y >=0 && pt.y < map.rows && pt.x >= 0 && pt.x < map.cols,
uFormat("%d: pt=(%d,%d) map=%dx%d rawPt=(%f,%f) xMin=%f yMin=%f channels=%dvs%d",
kter->first, pt.x, pt.y, map.cols, map.rows, ptf[0], ptf[1], xMin, yMin, iter->second.channels(), mapInfo.channels()-1).c_str());
char & value = map.at<char>(pt.y, pt.x);
signed char & value = map.at<signed char>(pt.y, pt.x);
if(value != -2)
{
float * info = mapInfo.ptr<float>(pt.y, pt.x);
@@ -523,7 +523,7 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
for(int j=ptBegin.y; j<ptEnd.y; ++j)
{
UASSERT(j < map.rows && i < map.cols);
char & value = map.at<char>(j, i);
signed char & value = map.at<signed char>(j, i);
float * info = mapInfo.ptr<float>(j, i);
int nodeId = (int)info[0];
if(value != -1)
@@ -573,7 +573,7 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
UASSERT_MSG(pt.y>=0 && pt.y < map.rows && pt.x>=0 && pt.x < map.cols,
uFormat("%d: pt=(%d,%d) map=%dx%d rawPt=(%f,%f) xMin=%f yMin=%f channels=%dvs%d",
kter->first, pt.x, pt.y, map.cols, map.rows, ptf[0], ptf[1], xMin, yMin, jter->second.channels(), mapInfo.channels()-1).c_str());
char & value = map.at<char>(pt.y, pt.x);
signed char & value = map.at<signed char>(pt.y, pt.x);
if(value != -2)
{
float * info = mapInfo.ptr<float>(pt.y, pt.x);
@@ -638,7 +638,7 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
{
for(int j=1; j<map.cols-1; ++j)
{
char & value = map.at<char>(i, j);
signed char & value = map.at<signed char>(i, j);
if(value == -2)
{
value = 0;

2
corelib/src/global_map/OctoMap.cpp
View File

@@ -320,7 +320,7 @@ OctoMap::OctoMap(const LocalGridCache * cache, const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kGridRayTracing(), rayTracing_);
Parameters::parse(parameters, Parameters::kGridGlobalFloodFillDepth(), emptyFloodFillDepth_);
UASSERT(emptyFloodFillDepth_>=0 && emptyFloodFillDepth_<=16);
UASSERT(emptyFloodFillDepth_<=16);
UDEBUG("rangeMax_ =%f", rangeMax_);
UDEBUG("rayTracing_ =%s", rayTracing_?"true":"false");