Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)

corelib/include/rtabmap/core/CameraRGBD.h

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/CameraModel.h"
 #include "rtabmap/core/Camera.h"
 #include "rtabmap/core/CameraRGB.h"
+#include "rtabmap/core/Version.h"
 
 #include <pcl/pcl_config.h>
 
@@ -173,12 +174,13 @@ public:
 	bool setExposure(int value);
 	bool setGain(int value);
 	bool setMirroring(bool enabled);
-	void setOpenNI2StampsAndIDsUsed(bool used) {_openNI2StampsAndIDsUsed = used;}
+	void setOpenNI2StampsAndIDsUsed(bool used);
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_OPENNI2
 	Type _type;
 	openni::Device * _device;
 	openni::VideoStream * _color;
@@ -188,6 +190,7 @@ private:
 	std::string _deviceId;
 	bool _openNI2StampsAndIDsUsed;
 	StereoCameraModel _stereoModel;
+#endif
 };
 
 
@@ -219,11 +222,13 @@ protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_FREENECT
 	int deviceId_;
 	Type type_;
 	freenect_context * ctx_;
 	FreenectDevice * freenectDevice_;
 	StereoCameraModel stereoModel_;
+#endif
 };
 
 /////////////////////////
@@ -266,6 +271,7 @@ protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_FREENECT2
 	int deviceId_;
 	Type type_;
 	StereoCameraModel stereoModel_;
@@ -278,6 +284,7 @@ private:
 	bool bilateralFiltering_;
 	bool edgeAwareFiltering_;
 	bool noiseFiltering_;
+#endif
 };
 
 /////////////////////////
@@ -307,11 +314,13 @@ protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_REALSENSE
 	rs::context * ctx_;
 	rs::device * dev_;
 	int deviceId_;
 	int presetRGB_;
 	int presetDepth_;
+#endif
 };
 
 

corelib/include/rtabmap/core/CameraStereo.h

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/CameraModel.h"
 #include "rtabmap/core/Camera.h"
 #include "rtabmap/core/CameraRGB.h"
+#include "rtabmap/core/Version.h"
 #include <list>
 
 namespace FlyCapture2
@@ -73,8 +74,10 @@ protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_DC1394
 	DC1394Device *device_;
 	StereoCameraModel stereoModel_;
+#endif
 };
 
 /////////////////////////
@@ -98,8 +101,10 @@ protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_FLYCAPTURE2
 	FlyCapture2::Camera * camera_;
 	void * triclopsCtx_; // TriclopsContext
+#endif
 };
 
 /////////////////////////
@@ -136,12 +141,13 @@ public:
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
-	virtual bool odomProvided() const { return computeOdometry_; }
+	virtual bool odomProvided() const;
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 
 private:
+#ifdef RTABMAP_ZED
 	sl::zed::Camera * zed_;
 	StereoCameraModel stereoModel_;
 	CameraVideo::Source src_;
@@ -154,6 +160,7 @@ private:
 	int confidenceThr_;
 	bool computeOdometry_;
 	bool lost_;
+#endif
 };
 
 /////////////////////////

corelib/src/CameraRGBD.cpp

@@ -382,21 +382,18 @@ CameraOpenNI2::CameraOpenNI2(
 		Type type,
 		float imageRate,
 		const rtabmap::Transform & localTransform) :
-	Camera(imageRate, localTransform),
+	Camera(imageRate, localTransform)
-	_type(type),
 #ifdef RTABMAP_OPENNI2
+    ,
+	_type(type),
 	_device(new openni::Device()),
 	_color(new openni::VideoStream()),
 	_depth(new openni::VideoStream()),
-#else
-	_device(0),
-	_color(0),
-	_depth(0),
-#endif
 	_depthFx(0.0f),
 	_depthFy(0.0f),
 	_deviceId(deviceId),
 	_openNI2StampsAndIDsUsed(false)
+#endif
 {
 }
 
@@ -488,6 +485,13 @@ bool CameraOpenNI2::setMirroring(bool enabled)
 	return false;
 }
 
+void CameraOpenNI2::setOpenNI2StampsAndIDsUsed(bool used)
+{
+#ifdef RTABMAP_OPENNI2
+	_openNI2StampsAndIDsUsed = used;
+#endif
+}
+
 bool CameraOpenNI2::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 #ifdef RTABMAP_OPENNI2
@@ -1122,11 +1126,14 @@ bool CameraFreenect::available()
 }
 
 CameraFreenect::CameraFreenect(int deviceId, Type type, float imageRate, const Transform & localTransform) :
-		Camera(imageRate, localTransform),
+		Camera(imageRate, localTransform)
+#ifdef RTABMAP_FREENECT
+        ,
 		deviceId_(deviceId),
 		type_(type),
 		ctx_(0),
 		freenectDevice_(0)
+#endif
 {
 #ifdef RTABMAP_FREENECT
 	if(freenect_init(&ctx_, NULL) < 0) UERROR("Cannot initialize freenect library");
@@ -1333,7 +1340,9 @@ CameraFreenect2::CameraFreenect2(
 	bool bilateralFiltering,
 	bool edgeAwareFiltering,
 	bool noiseFiltering) :
-		Camera(imageRate, localTransform),
+		Camera(imageRate, localTransform)
+#ifdef RTABMAP_FREENECT2
+        ,
 		deviceId_(deviceId),
 		type_(type),
 		freenect2_(0),
@@ -1345,6 +1354,7 @@ CameraFreenect2::CameraFreenect2(
 		bilateralFiltering_(bilateralFiltering),
 		edgeAwareFiltering_(edgeAwareFiltering),
 		noiseFiltering_(noiseFiltering)
+#endif
 {
 #ifdef RTABMAP_FREENECT2
 	UASSERT(minKinect2Depth_ < maxKinect2Depth_ && minKinect2Depth_>0 && maxKinect2Depth_>0 && maxKinect2Depth_<=65.535f);
@@ -1965,12 +1975,15 @@ bool CameraRealSense::available()
 }
 
 CameraRealSense::CameraRealSense(int device, int presetRGB, int presetDepth, float imageRate, const rtabmap::Transform & localTransform) :
-	Camera(imageRate, localTransform),
+	Camera(imageRate, localTransform)
+#ifdef RTABMAP_REALSENSE
+    ,
 	ctx_(0),
 	dev_(0),
 	deviceId_(device),
 	presetRGB_(presetRGB),
 	presetDepth_(presetDepth)
+#endif
 {
 	UDEBUG("");
 }

corelib/src/CameraStereo.cpp

@@ -347,8 +347,11 @@ bool CameraStereoDC1394::available()
 }
 
 CameraStereoDC1394::CameraStereoDC1394(float imageRate, const Transform & localTransform) :
-		Camera(imageRate, localTransform),
+		Camera(imageRate, localTransform)
+#ifdef RTABMAP_DC1394
+        ,
 		device_(0)
+#endif
 {
 #ifdef RTABMAP_DC1394
 	device_ = new DC1394Device();
@@ -401,7 +404,11 @@ bool CameraStereoDC1394::init(const std::string & calibrationFolder, const std::
 
 bool CameraStereoDC1394::isCalibrated() const
 {
+#ifdef RTABMAP_DC1394
 	return stereoModel_.isValidForProjection();
+#else
+	return false;
+#endif
 }
 
 std::string CameraStereoDC1394::getSerial() const
@@ -460,9 +467,12 @@ SensorData CameraStereoDC1394::captureImage(CameraInfo * info)
 // CameraTriclops
 //
 CameraStereoFlyCapture2::CameraStereoFlyCapture2(float imageRate, const Transform & localTransform) :
-		Camera(imageRate, localTransform),
+		Camera(imageRate, localTransform)
+#ifdef RTABMAP_FLYCAPTURE2
+        ,
 		camera_(0),
 		triclopsCtx_(0)
+#endif
 {
 #ifdef RTABMAP_FLYCAPTURE2
 	camera_ = new FlyCapture2::Camera();
@@ -757,7 +767,9 @@ CameraStereoZed::CameraStereoZed(
 		float imageRate,
 		const Transform & localTransform,
 		bool selfCalibration) :
-	Camera(imageRate, localTransform),
+	Camera(imageRate, localTransform)
+#ifdef RTABMAP_ZED
+    ,
 	zed_(0),
 	src_(CameraVideo::kUsbDevice),
 	usbDevice_(deviceId),
@@ -769,6 +781,7 @@ CameraStereoZed::CameraStereoZed(
 	confidenceThr_(confidenceThr),
 	computeOdometry_(computeOdometry),
 	lost_(true)
+#endif
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
@@ -788,7 +801,9 @@ CameraStereoZed::CameraStereoZed(
 		float imageRate,
 		const Transform & localTransform,
 		bool selfCalibration) :
-	Camera(imageRate, localTransform),
+	Camera(imageRate, localTransform)
+#ifdef RTABMAP_ZED
+    ,
 	zed_(0),
 	src_(CameraVideo::kVideoFile),
 	usbDevice_(0),
@@ -800,6 +815,7 @@ CameraStereoZed::CameraStereoZed(
 	confidenceThr_(confidenceThr),
 	computeOdometry_(computeOdometry),
 	lost_(true)
+#endif
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
@@ -896,7 +912,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 
 bool CameraStereoZed::isCalibrated() const
 {
+#ifdef RTABMAP_ZED
 	return stereoModel_.isValidForProjection();
+#else
+	return false;
+#endif
 }
 
 std::string CameraStereoZed::getSerial() const
@@ -910,6 +930,15 @@ std::string CameraStereoZed::getSerial() const
 	return "";
 }
 
+bool CameraStereoZed::odomProvided() const
+{
+#ifdef RTABMAP_ZED
+	return computeOdometry_;
+#else
+	return false;
+#endif
+}
+
 SensorData CameraStereoZed::captureImage(CameraInfo * info)
 {
 	SensorData data;