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fixed some compilation warnings

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matlabbe
2017-01-03 22:14:21 -05:00
parent 6abed48af6
commit ac1c5f81ae
3 changed files with 16 additions and 2 deletions
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app/android/jni/CameraTango.cpp
+14
View File
@@ -197,6 +197,19 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
return false; return false;
} }
// Drift correction allows motion tracking to recover after it loses tracking.
//
// The drift corrected pose is is available through the frame pair with
// base frame AREA_DESCRIPTION and target frame DEVICE.
/*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
if (ret != TANGO_SUCCESS) {
LOGE(
"NativeRTABMap: enabling config_enable_drift_correction "
"failed with error code: %d",
ret);
return false;
}*/
// Get TangoCore version string from service. // Get TangoCore version string from service.
char tango_core_version[kVersionStringLength]; char tango_core_version[kVersionStringLength];
ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength); ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
@@ -229,6 +242,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
// Attach the onPoseAvailable callback. // Attach the onPoseAvailable callback.
// The callback will be called after the service is connected. // The callback will be called after the service is connected.
TangoCoordinateFramePair pair; TangoCoordinateFramePair pair;
//pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE; pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
pair.target = TANGO_COORDINATE_FRAME_DEVICE; pair.target = TANGO_COORDINATE_FRAME_DEVICE;
ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter); ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);
corelib/src/RegistrationVis.cpp
+1 -1
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@@ -946,7 +946,7 @@ Transform RegistrationVis::computeTransformationImpl(
// match between all descriptors // match between all descriptors
VWDictionary dictionary(_featureParameters); VWDictionary dictionary(_featureParameters);
std::list<int> fromWordIds; std::list<int> fromWordIds;
for (unsigned int i = 0; i < descriptorsFrom.rows; ++i) for (int i = 0; i < descriptorsFrom.rows; ++i)
{ {
int id = orignalWordsFromIds.size() ? orignalWordsFromIds[i] : i; int id = orignalWordsFromIds.size() ? orignalWordsFromIds[i] : i;
dictionary.addWord(new VisualWord(id, descriptorsFrom.row(i), 1)); dictionary.addWord(new VisualWord(id, descriptorsFrom.row(i), 1));
corelib/src/SensorData.cpp
+1 -1
View File
@@ -740,7 +740,7 @@ void SensorData::uncompressDataConst(
void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors) void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors)
{ {
UASSERT_MSG(keypoints3D.empty() || keypoints.size() == keypoints3D.size(), uFormat("keypoints=%d keypoints3D=%d", (int)keypoints.size(), (int)keypoints3D.size()).c_str()); UASSERT_MSG(keypoints3D.empty() || keypoints.size() == keypoints3D.size(), uFormat("keypoints=%d keypoints3D=%d", (int)keypoints.size(), (int)keypoints3D.size()).c_str());
UASSERT_MSG(descriptors.empty() || keypoints.size() == descriptors.rows, uFormat("keypoints=%d descriptors=%d", (int)keypoints.size(), descriptors.rows).c_str()); UASSERT_MSG(descriptors.empty() || (int)keypoints.size() == descriptors.rows, uFormat("keypoints=%d descriptors=%d", (int)keypoints.size(), descriptors.rows).c_str());
_keypoints = keypoints; _keypoints = keypoints;
_keypoints3D = keypoints3D; _keypoints3D = keypoints3D;
_descriptors = descriptors; _descriptors = descriptors;