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Fixed compilation warning of not used variables when some odom approaches are not supported

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matlabbe
2017-09-11 14:00:08 -04:00
parent aca005c287
commit 1ae15911fc
8 changed files with 23 additions and 7 deletions
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corelib/include/rtabmap/core/OdometryDVO.h
+2
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@@ -53,10 +53,12 @@ private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_DVO
dvo::DenseTracker * dvo_;
dvo::core::RgbdImagePyramid * reference_;
dvo::core::RgbdCameraPyramid * camera_;
bool lost_;
#endif
Transform motionFromKeyFrame_;
Transform previousLocalTransform_;
corelib/include/rtabmap/core/OdometryFovis.h
+3 -1
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@@ -53,13 +53,15 @@ private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_FOVIS
fovis::VisualOdometry * fovis_;
fovis::Rectification * rect_;
fovis::StereoCalibration * stereoCalib_;
fovis::DepthImage * depthImage_;
fovis::StereoDepth * stereoDepth_;
ParametersMap fovisParameters_;
bool lost_;
#endif
ParametersMap fovisParameters_;
Transform previousLocalTransform_;
};
corelib/include/rtabmap/core/OdometryORBSLAM2.h
+2
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@@ -51,9 +51,11 @@ private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_ORB_SLAM2
ORBSLAM2System * orbslam2_;
ORB_SLAM2::System * system_;
bool firstFrame_;
#endif
Transform originLocalTransform_;
};
corelib/include/rtabmap/core/OdometryViso2.h
+2
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@@ -47,12 +47,14 @@ private:
virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
private:
#ifdef RTABMAP_VISO2
VisualOdometryStereo * viso2_;
int ref_frame_change_method_; // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
int ref_frame_inlier_threshold_; // method 0. Change the reference frame if the number of inliers is low
double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
bool lost_;
bool keep_reference_frame_;
#endif
Transform reference_motion_;
Transform previousLocalTransform_;
ParametersMap viso2Parameters_;