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fixed some warnings in Windows

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fixed Transform::getNorm()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1436 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-06-23 15:19:17 +00:00
parent d1df15efdd
commit e9ae29f909
12 changed files with 49 additions and 34 deletions
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corelib/src/util3d.cpp
+22 -11
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@@ -752,7 +752,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudFromDepthRGB(
cv::Mat depth2DFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud)
{
cv::Mat depth2d(1, cloud.size(), CV_32FC2);
cv::Mat depth2d(1, (int)cloud.size(), CV_32FC2);
for(unsigned int i=0; i<cloud.size(); ++i)
{
depth2d.at<cv::Vec2f>(i)[0] = cloud.at(i).x;
@@ -791,7 +791,7 @@ cv::Mat uncompressImage(const std::vector<unsigned char> & bytes)
cv::Mat image;
if(bytes.size())
{
#if CV_MAJOR_VERSION >=2 and CV_MINOR_VERSION >=4
#if CV_MAJOR_VERSION >=2 && CV_MINOR_VERSION >=4
image = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
#else
image = cv::imdecode(bytes, -1);
@@ -805,7 +805,7 @@ std::vector<unsigned char> compressData(const cv::Mat & data)
std::vector<unsigned char> bytes;
if(!data.empty())
{
uLong sourceLen = data.total()*data.elemSize();
uLong sourceLen = uLong(data.total())*uLong(data.elemSize());
uLong destLen = compressBound(sourceLen);
bytes.resize(destLen);
int errCode = compress(
@@ -847,13 +847,13 @@ cv::Mat uncompressData(const std::vector<unsigned char> & bytes)
uFormat("size=%d, height=%d width=%d type=%d", bytes.size(), height, width, type).c_str());
data = cv::Mat(height, width, type);
uLongf totalUncompressed = data.total()*data.elemSize();
uLongf totalUncompressed = uLongf(data.total())*uLongf(data.elemSize());
int errCode = uncompress(
(Bytef*)data.data,
&totalUncompressed,
(const Bytef*)bytes.data(),
bytes.size());
uLong(bytes.size()));
if(errCode == Z_MEM_ERROR)
{
@@ -918,8 +918,8 @@ void extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & w
std::vector<uchar> status(pairs.size(), 0);
//Convert Keypoints to a structure that OpenCV understands
//3 dimensions (Homogeneous vectors)
cv::Mat points1(1, pairs.size(), CV_32FC2);
cv::Mat points2(1, pairs.size(), CV_32FC2);
cv::Mat points1(1, (int)pairs.size(), CV_32FC2);
cv::Mat points2(1, (int)pairs.size(), CV_32FC2);
float * points1data = points1.ptr<float>(0);
float * points2data = points2.ptr<float>(0);
@@ -1147,7 +1147,7 @@ Transform transformFromXYZCorrespondences(
}
else if(inliers)
{
*inliers = correspondencesInliers.size();
*inliers = (int)correspondencesInliers.size();
}
//std::cout << "transformMatrix: " << transformMatrix << std::endl;
@@ -1521,7 +1521,7 @@ pcl::PolygonMesh::Ptr createMesh(
float gp3MaximumSurfaceAngle,
float gp3MinimumAngle,
float gp3MaximumAngle,
float gp3NormalConsistency)
bool gp3NormalConsistency)
{
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormalsNoNaN = removeNaNNormalsFromPointCloud(cloudWithNormals);
@@ -1663,7 +1663,13 @@ bool saveTOROGraph(
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & edgeConstraints)
{
FILE * file = fopen(fileName.c_str(), "w");
FILE * file = 0;
#ifdef _MSC_VER
fopen_s(&file, fileName.c_str(), "w");
#else
file = fopen(fileName.c_str(), "w");
#endif
if(file)
{
@@ -1712,7 +1718,12 @@ bool loadTOROGraph(const std::string & fileName,
std::map<int, Transform> & poses,
std::multimap<int, std::pair<int, Transform> > & edgeConstraints)
{
FILE * file = fopen(fileName.c_str(), "r");
FILE * file = 0;
#ifdef _MSC_VER
fopen_s(&file, fileName.c_str(), "r");
#else
file = fopen(fileName.c_str(), "r");
#endif
if(file)
{