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Fixed build warnings about variables not used in CameraRGBD and CameraStereo classes (depending on which sensor is available)

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This commit is contained in:
matlabbe
2016-12-02 12:29:38 -05:00
parent f2dbfa9b33
commit a5f4468c54
4 changed files with 74 additions and 16 deletions
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corelib/src/CameraStereo.cpp
+33 -4
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@@ -347,8 +347,11 @@ bool CameraStereoDC1394::available()
}
CameraStereoDC1394::CameraStereoDC1394(float imageRate, const Transform & localTransform) :
Camera(imageRate, localTransform),
Camera(imageRate, localTransform)
#ifdef RTABMAP_DC1394
,
device_(0)
#endif
{
#ifdef RTABMAP_DC1394
device_ = new DC1394Device();
@@ -401,7 +404,11 @@ bool CameraStereoDC1394::init(const std::string & calibrationFolder, const std::
bool CameraStereoDC1394::isCalibrated() const
{
#ifdef RTABMAP_DC1394
return stereoModel_.isValidForProjection();
#else
return false;
#endif
}
std::string CameraStereoDC1394::getSerial() const
@@ -460,9 +467,12 @@ SensorData CameraStereoDC1394::captureImage(CameraInfo * info)
// CameraTriclops
//
CameraStereoFlyCapture2::CameraStereoFlyCapture2(float imageRate, const Transform & localTransform) :
Camera(imageRate, localTransform),
Camera(imageRate, localTransform)
#ifdef RTABMAP_FLYCAPTURE2
,
camera_(0),
triclopsCtx_(0)
#endif
{
#ifdef RTABMAP_FLYCAPTURE2
camera_ = new FlyCapture2::Camera();
@@ -757,7 +767,9 @@ CameraStereoZed::CameraStereoZed(
float imageRate,
const Transform & localTransform,
bool selfCalibration) :
Camera(imageRate, localTransform),
Camera(imageRate, localTransform)
#ifdef RTABMAP_ZED
,
zed_(0),
src_(CameraVideo::kUsbDevice),
usbDevice_(deviceId),
@@ -769,6 +781,7 @@ CameraStereoZed::CameraStereoZed(
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
#endif
{
UDEBUG("");
#ifdef RTABMAP_ZED
@@ -788,7 +801,9 @@ CameraStereoZed::CameraStereoZed(
float imageRate,
const Transform & localTransform,
bool selfCalibration) :
Camera(imageRate, localTransform),
Camera(imageRate, localTransform)
#ifdef RTABMAP_ZED
,
zed_(0),
src_(CameraVideo::kVideoFile),
usbDevice_(0),
@@ -800,6 +815,7 @@ CameraStereoZed::CameraStereoZed(
confidenceThr_(confidenceThr),
computeOdometry_(computeOdometry),
lost_(true)
#endif
{
UDEBUG("");
#ifdef RTABMAP_ZED
@@ -896,7 +912,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
bool CameraStereoZed::isCalibrated() const
{
#ifdef RTABMAP_ZED
return stereoModel_.isValidForProjection();
#else
return false;
#endif
}
std::string CameraStereoZed::getSerial() const
@@ -910,6 +930,15 @@ std::string CameraStereoZed::getSerial() const
return "";
}
bool CameraStereoZed::odomProvided() const
{
#ifdef RTABMAP_ZED
return computeOdometry_;
#else
return false;
#endif
}
SensorData CameraStereoZed::captureImage(CameraInfo * info)
{
SensorData data;