Merge branch '0.11.0' of github.com:introlab/rtabmap into 0.11.0

corelib/include/rtabmap/core/Registration.h

@@ -28,12 +28,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef REGISTRATION_H_
 #define REGISTRATION_H_
 
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/core/Signature.h>
 
 namespace rtabmap {
 
-class Registration
+class RTABMAP_EXP Registration
 {
 public:
 	virtual ~Registration() {}

corelib/include/rtabmap/core/RegistrationIcp.h

@@ -28,13 +28,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef REGISTRATIONICP_H_
 #define REGISTRATIONICP_H_
 
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
 #include <rtabmap/core/Registration.h>
 #include <rtabmap/core/Signature.h>
 
 namespace rtabmap {
 
 // Geometrical registration
-class RegistrationIcp : public Registration
+class RTABMAP_EXP RegistrationIcp : public Registration
 {
 public:
 	RegistrationIcp(const ParametersMap & parameters = ParametersMap());

corelib/include/rtabmap/core/RegistrationVis.h

@@ -28,13 +28,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef REGISTRATIONVIS_H_
 #define REGISTRATIONVIS_H_
 
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
 #include <rtabmap/core/Registration.h>
 #include <rtabmap/core/Signature.h>
 
 namespace rtabmap {
 
 // Visual registration
-class RegistrationVis : public Registration
+class RTABMAP_EXP RegistrationVis : public Registration
 {
 public:
 	RegistrationVis(const ParametersMap & parameters = ParametersMap());

corelib/src/Features2d.cpp

@@ -376,9 +376,9 @@ void Feature2D::parseParameters(const ParametersMap & parameters)
 		{
 			std::vector<float> tmpValues(4);
 			unsigned int i=0;
-			for(std::list<std::string>::iterator iter = strValues.begin(); iter!=strValues.end(); ++iter)
+			for(std::list<std::string>::iterator jter = strValues.begin(); jter!=strValues.end(); ++jter)
 			{
-				tmpValues[i] = uStr2Float(*iter);
+				tmpValues[i] = uStr2Float(*jter);
 				++i;
 			}
 

corelib/src/Graph.cpp

@@ -192,7 +192,7 @@ bool importPoses(
 			std::string str;
 			std::getline(file, str);
 
-			if(str.front() == '#' || str.empty())
+			if(str.at(0) == '#' || str.empty())
 			{
 				continue;
 			}

corelib/src/RegistrationVis.cpp

@@ -209,11 +209,11 @@ Transform RegistrationVis::computeTransformationMod(
 		// just some checks to make sure that input data are ok
 		UASSERT((fromSignature.getWords().empty() && fromSignature.getWords3().empty())||
 				(fromSignature.getWords().size() == fromSignature.getWords3().size()));
-		UASSERT(fromSignature.sensorData().keypoints().size() == fromSignature.sensorData().descriptors().rows ||
+		UASSERT((int)fromSignature.sensorData().keypoints().size() == fromSignature.sensorData().descriptors().rows ||
 				fromSignature.sensorData().descriptors().rows == 0);
 		UASSERT((toSignature.getWords().empty() && toSignature.getWords3().empty())||
 				(toSignature.getWords().size() == toSignature.getWords3().size()));
-		UASSERT(toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
+		UASSERT((int)toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
 				toSignature.sensorData().descriptors().rows == 0);
 		UASSERT(fromSignature.sensorData().imageRaw().type() == CV_8UC1 ||
 				fromSignature.sensorData().imageRaw().type() == CV_8UC3);
@@ -405,7 +405,7 @@ Transform RegistrationVis::computeTransformationMod(
 			UDEBUG("kptsTo=%d", (int)kptsTo.size());
 			cv::Mat descriptorsFrom;
 			cv::Mat descriptorsTo;
-			if(fromSignature.getWords().empty() && fromSignature.sensorData().descriptors().rows == kptsFrom.size())
+			if(fromSignature.getWords().empty() && fromSignature.sensorData().descriptors().rows == (int)kptsFrom.size())
 			{
 				descriptorsFrom = fromSignature.sensorData().descriptors();
 			}
@@ -413,7 +413,7 @@ Transform RegistrationVis::computeTransformationMod(
 			{
 				descriptorsFrom = detector->generateDescriptors(fromSignature.sensorData().imageRaw(), kptsFrom);
 			}
-			if(toSignature.getWords().empty() && toSignature.sensorData().descriptors().rows == kptsTo.size())
+			if(toSignature.getWords().empty() && toSignature.sensorData().descriptors().rows == (int)kptsTo.size())
 			{
 				descriptorsTo = toSignature.sensorData().descriptors();
 			}

corelib/src/util2d.cpp

@@ -161,7 +161,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
 	{
 		int oi=0;
 		float bestScore = -1.0f;
-		float secondBest = -1.0f;
 		int bestScoreIndex = -1;
 		int tmpMinDisparity = minDisparity;
 		int tmpMaxDisparity = maxDisparity;
@@ -175,7 +174,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
 
 			oi=0;
 			bestScore = -1.0f;
-			secondBest = -1.0f;
 			bestScoreIndex = -1;
 			int localMaxDisparity = -tmpMaxDisparity / (1<<level);
 			int localMinDisparity = -tmpMinDisparity / (1<<level);
@@ -214,7 +212,6 @@ std::vector<cv::Point2f> calcStereoCorrespondences(
 					scores[oi] = ssdApproach?ssd(windowLeft, windowRight):sad(windowLeft, windowRight);
 					if(scores[oi] > 0 && (bestScore < 0.0f || scores[oi] < bestScore))
 					{
-						secondBest = bestScore;
 						bestScoreIndex = oi;
 						bestScore = scores[oi];
 					}

corelib/src/util3d_features.cpp

@@ -362,7 +362,7 @@ std::map<int, cv::Point3f> generateWords3DMono(
 								int oi=0;
 								for(unsigned int i=0; i<indexes.size(); ++i)
 								{
-									std::multimap<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
+									std::map<int, cv::Point3f>::iterator iter = words3D.find(indexes[i]);
 									if(util3d::isFinite(iter->second))
 									{
 										iter->second.x *= scale;

tools/StereoEval/io.h

@@ -9,6 +9,7 @@
 #define PFMREADER_H_
 
 #include <iostream>
+#include <stdio.h>
 #include <opencv2/opencv.hpp>
 
 // taken from http://vision.middlebury.edu/stereo/ evaluation tool

tools/StereoEval/main.cpp

@@ -177,7 +177,7 @@ int main(int argc, char * argv[])
 		// dymax=0.423
 		// ---
 		std::string calibFile = argv[3];
-		std::ifstream stream(calibFile);
+		std::ifstream stream(calibFile.c_str());
 		std::string line;
 
 		// two first lines are camera intrinsics

utilite/src/UConversion.cpp

@@ -22,6 +22,7 @@
 #include <sstream>
 #include <string.h>
 #include <stdio.h>
+#include <stdlib.h>
 
 #ifdef _WIN32
 #include <windows.h>