fixed some warnings in Windows

fixed Transform::getNorm()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1436 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Memory.h

@@ -74,7 +74,7 @@ public:
 	bool addLoopClosureLink(int oldId, int newId, const Transform & transform, bool global);
 	void updateNeighborLink(int fromId, int toId, const Transform & transform);
 	std::map<int, int> getNeighborsId(int signatureId,
-			unsigned int margin,
+			int margin,
 			int maxCheckedInDatabase = -1,
 			bool incrementMarginOnLoop = false,
 			bool ignoreLoopIds = false,

corelib/include/rtabmap/core/util3d.h

@@ -370,7 +370,7 @@ pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(
 		float gp3MaximumSurfaceAngle = M_PI/4,
 		float gp3MinimumAngle = M_PI/18,
 		float gp3MaximumAngle = 2*M_PI/3,
-		float gp3NormalConsistency = false);
+		bool gp3NormalConsistency = false);
 
 void RTABMAP_EXP optimizeTOROGraph(
 		const std::map<int, Transform> & poses,

corelib/src/Camera.cpp

@@ -187,7 +187,8 @@ cv::Mat CameraImages::captureImage()
 				if(fileName.size())
 				{
 					ULOGGER_DEBUG("Loading image : %s", fullPath.c_str());
-#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
+
+#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
 					img = cv::imread(fullPath.c_str(), cv::IMREAD_UNCHANGED);
 #else
 					img = cv::imread(fullPath.c_str(), -1);

corelib/src/Features2d.cpp

@@ -28,7 +28,8 @@
 #include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/gpu/gpu.hpp>
 #include <opencv2/core/version.hpp>
-#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
+
+#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
 #include <opencv2/nonfree/gpu.hpp>
 #include <opencv2/nonfree/features2d.hpp>
 #endif

corelib/src/Memory.cpp

@@ -712,13 +712,14 @@ std::map<int, Transform> Memory::getNeighborLinks(int signatureId, bool ignoreNe
 // maxCheckedInDatabase = -1 means no limit to check in database (default)
 // maxCheckedInDatabase = 0 means don't check in database
 std::map<int, int> Memory::getNeighborsId(int signatureId,
-		unsigned int margin, // 0 means infinite margin
+		int margin, // 0 means infinite margin
 		int maxCheckedInDatabase, // default -1 (no limit)
 		bool incrementMarginOnLoop, // default false
 		bool ignoreLoopIds, // default false
 		double * dbAccessTime
 		) const
 {
+	UASSERT(margin >= 0);
 	//UDEBUG("signatureId=%d, neighborsMargin=%d", signatureId, margin);
 	if(dbAccessTime)
 	{
@@ -734,7 +735,7 @@ std::map<int, int> Memory::getNeighborsId(int signatureId,
 	std::set<int> currentMargin;
 	std::set<int> nextMargin;
 	nextMargin.insert(signatureId);
-	unsigned int m = 0;
+	int m = 0;
 	while((margin == 0 || m < margin) && nextMargin.size())
 	{
 		curentMarginList = std::list<int>(nextMargin.begin(), nextMargin.end());

corelib/src/Rtabmap.cpp

@@ -1094,8 +1094,9 @@ bool Rtabmap::process(const Image & image)
 	{
 		//Load neighbors
 		ULOGGER_INFO("Retrieving locations... around id=%d", _retrievedId);
-		unsigned int neighborhoodSize = _bayesFilter->getPredictionLC().size()-1;
+		int neighborhoodSize = (int)_bayesFilter->getPredictionLC().size()-1;
-		unsigned int margin = neighborhoodSize;
+		UASSERT(neighborhoodSize >= 0);
+		int margin = neighborhoodSize;
 
 		UTimer timeGetN;
 		unsigned int nbLoadedFromDb = 0;
@@ -1105,7 +1106,7 @@ bool Rtabmap::process(const Image & image)
 		double timeGetNeighborsSpaceDb = 0.0;
 		std::map<int, int> neighbors;
 		bool firstPassDone = false;
-		unsigned int m = 0;
+		int m = 0;
 		int nbDirectNeighborsInDb = 0;
 
 		// priority in time
@@ -1127,7 +1128,7 @@ bool Rtabmap::process(const Image & image)
 				{
 					neighbors.erase(iter++);
 				}
-				else if((unsigned int)iter->second == m)
+				else if(iter->second == m)
 				{
 					if(reactivatedIdsSet.find(iter->first) == reactivatedIdsSet.end())
 					{
@@ -1178,7 +1179,7 @@ bool Rtabmap::process(const Image & image)
 				{
 					neighbors.erase(iter++);
 				}
-				else if((unsigned int)iter->second == m)
+				else if(iter->second == m)
 				{
 					if(reactivatedIdsSet.find(iter->first) == reactivatedIdsSet.end())
 					{
@@ -1407,7 +1408,7 @@ bool Rtabmap::process(const Image & image)
 	{
 		lcHypothesisReactivated = sLoop->isSaved()?1.0f:0.0f;
 	}
-	dictionarySize = _memory->getVWDictionary()->getVisualWords().size();
+	dictionarySize = (int)_memory->getVWDictionary()->getVisualWords().size();
 	refWordsCount = (int)signature->getWords().size();
 	refUniqueWordsCount = (int)uUniqueKeys(signature->getWords()).size();
 

corelib/src/Transform.cpp

@@ -152,7 +152,7 @@ void Transform::getTranslation(float & x, float & y, float & z) const
 
 float Transform::getNorm() const
 {
-	return std::sqrt(this->getNorm());
+	return std::sqrt(this->getNormSquared());
 }
 
 float Transform::getNormSquared() const

corelib/src/util3d.cpp

@@ -752,7 +752,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
 
 cv::Mat depth2DFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud)
 {
-	cv::Mat depth2d(1, cloud.size(), CV_32FC2);
+	cv::Mat depth2d(1, (int)cloud.size(), CV_32FC2);
 	for(unsigned int i=0; i<cloud.size(); ++i)
 	{
 		depth2d.at<cv::Vec2f>(i)[0] = cloud.at(i).x;
@@ -791,7 +791,7 @@ cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
 	 cv::Mat image;
 	if(bytes.size())
 	{
-#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
+#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
 		image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
 #else
 		image = cv::imdecode(bytes, -1);
@@ -805,7 +805,7 @@ std::vector<unsigned char> compressData(const cv::Mat & data)
 	std::vector<unsigned char> bytes;
 	if(!data.empty())
 	{
-		uLong sourceLen = data.total()*data.elemSize();
+		uLong sourceLen = uLong(data.total())*uLong(data.elemSize());
 		uLong destLen = compressBound(sourceLen);
 		bytes.resize(destLen);
 		int errCode = compress(
@@ -847,13 +847,13 @@ cv::Mat uncompressData(const std::vector<unsigned char> & bytes)
 				    uFormat("size=%d, height=%d width=%d type=%d", bytes.size(), height, width, type).c_str());
 
 		data = cv::Mat(height, width, type);
-		uLongf totalUncompressed = data.total()*data.elemSize();
+		uLongf totalUncompressed = uLongf(data.total())*uLongf(data.elemSize());
 
 		int errCode = uncompress(
 						(Bytef*)data.data,
 						&totalUncompressed,
 						(const Bytef*)bytes.data(),
-						bytes.size());
+						uLong(bytes.size()));
 
 		if(errCode == Z_MEM_ERROR)
 		{
@@ -918,8 +918,8 @@ void extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & w
 		std::vector<uchar> status(pairs.size(), 0);
 		//Convert Keypoints to a structure that OpenCV understands
 		//3 dimensions (Homogeneous vectors)
-		cv::Mat points1(1, pairs.size(), CV_32FC2);
+		cv::Mat points1(1, (int)pairs.size(), CV_32FC2);
-		cv::Mat points2(1, pairs.size(), CV_32FC2);
+		cv::Mat points2(1, (int)pairs.size(), CV_32FC2);
 
 		float * points1data = points1.ptr<float>(0);
 		float * points2data = points2.ptr<float>(0);
@@ -1147,7 +1147,7 @@ Transform transformFromXYZCorrespondences(
 		}
 		else if(inliers)
 		{
-			*inliers = correspondencesInliers.size();
+			*inliers = (int)correspondencesInliers.size();
 		}
 
 		//std::cout << "transformMatrix: " << transformMatrix << std::endl;
@@ -1521,7 +1521,7 @@ pcl::PolygonMesh::Ptr createMesh(
 		float gp3MaximumSurfaceAngle,
 		float gp3MinimumAngle,
 		float gp3MaximumAngle,
-		float gp3NormalConsistency)
+		bool gp3NormalConsistency)
 {
 	pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormalsNoNaN = removeNaNNormalsFromPointCloud(cloudWithNormals);
 
@@ -1663,7 +1663,13 @@ bool saveTOROGraph(
 		const std::map<int, Transform> & poses,
 		const std::multimap<int, Link> & edgeConstraints)
 {
-	FILE * file = fopen(fileName.c_str(), "w");
+	FILE * file = 0;
+
+#ifdef _MSC_VER
+	fopen_s(&file, fileName.c_str(), "w");
+#else
+	file = fopen(fileName.c_str(), "w");
+#endif
 
 	if(file)
 	{
@@ -1712,7 +1718,12 @@ bool loadTOROGraph(const std::string & fileName,
 		std::map<int, Transform> & poses,
 		std::multimap<int, std::pair<int, Transform> > & edgeConstraints)
 {
-	FILE * file = fopen(fileName.c_str(), "r");
+	FILE * file = 0;
+#ifdef _MSC_VER
+	fopen_s(&file, fileName.c_str(), "r");
+#else
+	file = fopen(fileName.c_str(), "r");
+#endif
 
 	if(file)
 	{

guilib/src/GraphViewer.cpp

@@ -319,7 +319,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 		{
 			for (int j = 0; j < map8S.cols; ++j)
 			{
-				char gray = map8S.at<char>(i, j);
+				unsigned char gray = map8S.at<unsigned char>(i, j);
 				if(gray == -1)
 				{
 					gray = 89;
@@ -332,7 +332,7 @@ void GraphViewer::updateGraph(const std::map<int, Transform> & poses,
 				{
 					gray = 0;
 				}
-				map8U.at<char>(i, j) = gray;
+				map8U.at<unsigned char>(i, j) = gray;
 			}
 		}
 		QImage image = uCvMat2QImage(map8U, false);

guilib/src/MainWindow.cpp

@@ -270,7 +270,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_ui->actionView_point_cloud_as_mesh->setEnabled(false);
 	_ui->actionReset_Odometry->setEnabled(false);
 
-#if defined(Q_WS_MAC) or defined(Q_WS_WIN)
+#if defined(Q_WS_MAC) || defined(Q_WS_WIN)
 	connect(_ui->actionOpen_working_directory, SIGNAL(triggered()), SLOT(openWorkingDirectory()));
 #else
 	_ui->menuEdit->removeAction(_ui->actionOpen_working_directory);

tools/VocabularyComparison/main.cpp

@@ -38,7 +38,7 @@ int main(int argc, char * argv[])
 	std::list<std::vector<float> > objectDescriptors;
 	//std::list<std::vector<float> > descriptors;
 	std::map<int, std::vector<float> > descriptors;
-	unsigned int dimension  = 0;
+	int dimension  = 0;
 	UTimer timer;
 	int objectDescriptorsSize= 400;
 
@@ -85,7 +85,7 @@ int main(int argc, char * argv[])
 					++iter;
 
 					std::vector<float> descriptor(dimension);
-					unsigned int i=0;
+					int i=0;
 
 					//get descriptor
 					for(;i<dimension && iter != strList.end(); ++i, ++iter)
@@ -129,7 +129,7 @@ int main(int argc, char * argv[])
 
 		UDEBUG("Creating data structures...");
 		// Create the data structure
-		dataTree = cv::Mat(descriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
+		dataTree = cv::Mat((int)descriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
 		{//scope
 			//std::list<std::vector<float> >::const_iterator iter = descriptors.begin();
 			std::map<int, std::vector<float> >::const_iterator iter = descriptors.begin();
@@ -143,7 +143,7 @@ int main(int argc, char * argv[])
 			}
 		}
 
-		queries = cv::Mat(objectDescriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
+		queries = cv::Mat((int)objectDescriptors.size(), dimension, CV_32F); // SURF descriptors are CV_32F
 		{//scope
 			std::list<std::vector<float> >::const_iterator iter = objectDescriptors.begin();
 			for(unsigned int i=0; i < objectDescriptors.size(); ++i, ++iter)

utilite/include/rtabmap/utilite/UMath.h

@@ -44,7 +44,7 @@ inline bool uIsNan(const T & value)
 #ifdef __APPLE__
 	return std::isnan(value);
 #elif _MSC_VER
-	return _isnan(value);
+	return _isnan(value) != 0;
 #else
 	return isnan(value);
 #endif
@@ -57,7 +57,7 @@ template<class T>
 inline bool uIsFinite(const T & value)
 {
 #if _MSC_VER
-	return (bool)_finite(value);
+	return _finite(value) != 0;
 #else
 	return std::isfinite(value);
 #endif
@@ -335,7 +335,7 @@ inline T uSum(const T * v, unsigned int size)
 template<class T>
 inline T uSum(const std::vector<T> & v)
 {
-	return uSum(v.data(), v.size());
+	return uSum(v.data(), (int)v.size());
 }
 
 /**