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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/src/OdometryViso2.cpp
+4 -1
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@@ -28,7 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/OdometryViso2.h"
#include "rtabmap/core/OdometryInfo.h"
#include "rtabmap/core/util2d.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/ULogger.h"
#include "rtabmap/utilite/UTimer.h"
#include "rtabmap/utilite/UStl.h"
@@ -53,15 +52,19 @@ namespace rtabmap {
OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
Odometry(parameters),
#ifdef RTABMAP_VISO2
viso2_(0),
ref_frame_change_method_(0),
ref_frame_inlier_threshold_(Parameters::defaultOdomVisKeyFrameThr()),
ref_frame_motion_threshold_(5.0),
lost_(false),
keep_reference_frame_(false),
#endif
reference_motion_(Transform::getIdentity())
{
#ifdef RTABMAP_VISO2
Parameters::parse(parameters, Parameters::kOdomVisKeyFrameThr(), ref_frame_inlier_threshold_);
#endif
viso2Parameters_ = Parameters::filterParameters(parameters, "OdomViso2");
}