Fixed some warnings on VisualStudio2010

corelib/src/Compression.cpp

@@ -99,7 +99,7 @@ cv::Mat compressImage2(const cv::Mat & image, const std::string & format)
 	std::vector<unsigned char> bytes = compressImage(image, format);
 	if(bytes.size())
 	{
-		return cv::Mat(1, bytes.size(), CV_8UC1, bytes.data()).clone();
+		return cv::Mat(1, (int)bytes.size(), CV_8UC1, bytes.data()).clone();
 	}
 	return cv::Mat();
 }
@@ -201,7 +201,7 @@ cv::Mat uncompressData(const cv::Mat & bytes)
 
 cv::Mat uncompressData(const std::vector<unsigned char> & bytes)
 {
-	return uncompressData(bytes.data(), bytes.size());
+	return uncompressData(bytes.data(), (unsigned long)bytes.size());
 }
 
 cv::Mat uncompressData(const unsigned char * bytes, unsigned long size)

corelib/src/Memory.cpp

@@ -1016,7 +1016,7 @@ void Memory::clear()
 	// Save some stats to the db, save only when the mem is not empty
 	if(_dbDriver && (_stMem.size() || _workingMem.size()))
 	{
-		unsigned int memSize = _workingMem.size() + _stMem.size();
+		unsigned int memSize = (unsigned int)(_workingMem.size() + _stMem.size());
 		if(_workingMem.size() && _workingMem.begin()->first < 0)
 		{
 			--memSize;
@@ -1863,7 +1863,7 @@ Transform Memory::computeVisualTransform(
 					true, 3.0, 10,
 					&inliersV,
 					variance);
-			inliersCount = inliersV.size();
+			inliersCount = (int)inliersV.size();
 			if(!t.isNull() && inliersCount >= _bowMinInliers)
 			{
 				transform = t;

corelib/src/Rtabmap.cpp

@@ -2057,8 +2057,8 @@ void Rtabmap::setWorkingDirectory(std::string path)
 	}
 }
 
-
-
+
+
 void Rtabmap::deleteLocation(int locationId)
 {
 	if(_memory)

corelib/src/toro3d/treeoptimizer3.cpp

@@ -95,7 +95,7 @@ void TreeOptimizer3::iterate(TreePoseGraph3::EdgeSet* eset, bool noPreconditione
     maxRotationalErrors.push_back(mre);
     int interval=3;
     if ((int)maxRotationalErrors.size()>=interval){
-      uint s=maxRotationalErrors.size();
+      uint s=(uint)maxRotationalErrors.size();
       double re0 = maxRotationalErrors[s-interval];
       double re1 = maxRotationalErrors[s-1];
 

guilib/src/DataRecorder.cpp

@@ -129,8 +129,8 @@ void DataRecorder::addData(const rtabmap::SensorData & data)
 		UTimer time;
 		memory_->update(data);
 		const Signature * s = memory_->getLastWorkingSignature();
-		totalSizeKB_ += s->getImageCompressed().total()/1000;
-		totalSizeKB_ += s->getDepthCompressed().total()/1000;
+		totalSizeKB_ += (int)s->getImageCompressed().total()/1000;
+		totalSizeKB_ += (int)s->getDepthCompressed().total()/1000;
 		memory_->cleanup();
 
 		if(++count_ % 30)

utilite/src/CMakeLists.txt

@@ -23,7 +23,7 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 ADD_LIBRARY(rtabmap_utilite ${SRC_FILES})
 IF(MINGW)
     TARGET_LINK_LIBRARIES(rtabmap_utilite ${PTHREADS_LIBRARY} "-lpsapi")
-ELSEIF(WIN32)
+ELSEIF(WIN32 OR MSVC)
 	FIND_LIBRARY(PSAPI_LIBRARIES NAMES psapi libpsapi.dll.a libpsapi.a libpsapi.lib )
 	TARGET_LINK_LIBRARIES(rtabmap_utilite ${PSAPI_LIBRARIES})
 ELSE()

utilite/src/UConversion.cpp

@@ -172,7 +172,7 @@ std::string uBytes2Hex(const char * bytes, unsigned int bytesLen)
 
 std::vector<char> uHex2Bytes(const std::string & hex)
 {
-	return uHex2Bytes(&hex[0], hex.length());
+	return uHex2Bytes(&hex[0], (int)hex.length());
 }
 
 std::vector<char> uHex2Bytes(const char * hex, int hexLen)
@@ -287,7 +287,11 @@ std::string uFormatv (const char *fmt, va_list args)
 #endif
 
         // Try to vsnprintf into our buffer.
+#ifdef _MSC_VER
+    	int needed = vsnprintf_s(buf, size, size, fmt, argsTmp);
+#else
     	int needed = vsnprintf (buf, size, fmt, argsTmp);
+#endif
     	va_end(argsTmp);
         // NB. C99 (which modern Linux and OS X follow) says vsnprintf
         // failure returns the length it would have needed.  But older

utilite/src/UDirectory.cpp

@@ -249,7 +249,7 @@ void UDirectory::rewind()
 bool UDirectory::exists(const std::string & dirPath)
 {
 	bool r = false;
-#if WIN32
+#ifdef _WIN32
 	#ifdef UNICODE
 	wchar_t * wDirPath = createWCharFromChar(dirPath.c_str());
 	DWORD dwAttrib = GetFileAttributes(wDirPath);
@@ -273,7 +273,7 @@ bool UDirectory::exists(const std::string & dirPath)
 std::string UDirectory::getDir(const std::string & filePath)
 {
 	std::string dir = filePath;
-	int i=dir.size()-1;
+	int i=(int)dir.size()-1;
 	for(; i>=0; --i)
 	{
 		if(dir[i] == '/' || dir[i] == '\\')
@@ -333,7 +333,7 @@ std::string UDirectory::currentDir(bool trailingSeparator)
 bool UDirectory::makeDir(const std::string & dirPath)
 {
 	int status;
-#if WIN32
+#ifdef _WIN32
 	status = _mkdir(dirPath.c_str());
 #else
 	status = mkdir(dirPath.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
@@ -344,7 +344,7 @@ bool UDirectory::makeDir(const std::string & dirPath)
 bool UDirectory::removeDir(const std::string & dirPath)
 {
 	int status;
-#if WIN32
+#ifdef _WIN32
 	status = _rmdir(dirPath.c_str());
 #else
 	status = rmdir(dirPath.c_str());
@@ -355,7 +355,7 @@ bool UDirectory::removeDir(const std::string & dirPath)
 std::string UDirectory::homeDir()
 {
 	std::string path;
-#if WIN32
+#ifdef _WIN32
 	#ifdef UNICODE
 	wchar_t wProfilePath[250];
 	ExpandEnvironmentStrings(L"%userprofile%",wProfilePath,250);

utilite/src/UFile.cpp

@@ -36,12 +36,12 @@ bool UFile::exists(const std::string &filePath)
 
 long UFile::length(const std::string &filePath)
 {
-    long fileSize = 0;
-    FILE* fp = 0;
+    long fileSize = 0;
+    FILE* fp = 0;
 #ifdef _MSC_VER
-    fopen_s(&fp, filePath.c_str(), "rb");
-#else
-    fp = fopen(filePath.c_str(), "rb");
+    fopen_s(&fp, filePath.c_str(), "rb");
+#else
+    fp = fopen(filePath.c_str(), "rb");
 #endif
     if(fp == NULL)
     {
@@ -70,7 +70,7 @@ std::string UFile::getName(const std::string & filePath)
 {
 	std::string fullPath = filePath;
 	std::string name;
-	for(int i=fullPath.size()-1; i>=0; --i)
+	for(int i=(int)fullPath.size()-1; i>=0; --i)
 	{
 		if(fullPath[i] == '/' || fullPath[i] == '\\')
 		{

utilite/src/UThread.cpp

@@ -90,7 +90,7 @@ void UThread::join(bool killFirst)
 		uSleep(1);
 	}
 
-#if WIN32
+#ifdef _WIN32
 #if PRINT_DEBUG
 	UDEBUG("Thread %d joining %d", UThreadC<void>::Self(), threadId_);
 #endif