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Fixed some more warnings on Ubuntu

release/4.3a0
Frank 2015-05-12 15:05:34 -07:00
parent 72d2d77e21
commit 057aef90d9
2 changed files with 26 additions and 38 deletions
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50
examples/SolverComparer.cpp
View File

@ -31,28 +31,29 @@
* *
*/ */
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/BearingRangeFactor.h> #include <gtsam/slam/BearingRangeFactor.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/slam/dataset.h>
#include <gtsam/linear/GaussianJunctionTree.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/linear/GaussianEliminationTree.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h> #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/Marginals.h> #include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianJunctionTree.h>
#include <gtsam/linear/GaussianEliminationTree.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <fstream>
#include <iostream>
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp> #include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/export.hpp> #include <boost/archive/binary_oarchive.hpp>
#include <boost/program_options.hpp> #include <boost/program_options.hpp>
#include <boost/range/algorithm/set_algorithm.hpp> #include <boost/range/algorithm/set_algorithm.hpp>
#include <boost/random.hpp> #include <boost/random.hpp>
#include <boost/serialization/export.hpp>
#include <fstream>
#include <iostream>
#ifdef GTSAM_USE_TBB #ifdef GTSAM_USE_TBB
#include <tbb/tbb.h> #include <tbb/tbb.h>
@ -72,23 +73,6 @@ typedef NoiseModelFactor1<Pose> NM1;
typedef NoiseModelFactor2<Pose,Pose> NM2; typedef NoiseModelFactor2<Pose,Pose> NM2;
typedef BearingRangeFactor<Pose,Point2> BR; typedef BearingRangeFactor<Pose,Point2> BR;
//GTSAM_VALUE_EXPORT(Value);
//GTSAM_VALUE_EXPORT(Pose);
//GTSAM_VALUE_EXPORT(Rot2);
//GTSAM_VALUE_EXPORT(Point2);
//GTSAM_VALUE_EXPORT(NonlinearFactor);
//GTSAM_VALUE_EXPORT(NoiseModelFactor);
//GTSAM_VALUE_EXPORT(NM1);
//GTSAM_VALUE_EXPORT(NM2);
//GTSAM_VALUE_EXPORT(BetweenFactor<Pose>);
//GTSAM_VALUE_EXPORT(PriorFactor<Pose>);
//GTSAM_VALUE_EXPORT(BR);
//GTSAM_VALUE_EXPORT(noiseModel::Base);
//GTSAM_VALUE_EXPORT(noiseModel::Isotropic);
//GTSAM_VALUE_EXPORT(noiseModel::Gaussian);
//GTSAM_VALUE_EXPORT(noiseModel::Diagonal);
//GTSAM_VALUE_EXPORT(noiseModel::Unit);
double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) { double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& config) {
// Compute degrees of freedom (observations - variables) // Compute degrees of freedom (observations - variables)
// In ocaml, +1 was added to the observations to account for the prior, but // In ocaml, +1 was added to the observations to account for the prior, but
@ -269,12 +253,12 @@ void runIncremental()
boost::dynamic_pointer_cast<BetweenFactor<Pose> >(datasetMeasurements[nextMeasurement])) boost::dynamic_pointer_cast<BetweenFactor<Pose> >(datasetMeasurements[nextMeasurement]))
{ {
Key key1 = measurement->key1(), key2 = measurement->key2(); Key key1 = measurement->key1(), key2 = measurement->key2();
if((key1 >= firstStep && key1 < key2) || (key2 >= firstStep && key2 < key1)) { if(((int)key1 >= firstStep && key1 < key2) || (key2 >= firstStep && key2 < key1)) {
// We found an odometry starting at firstStep // We found an odometry starting at firstStep
firstPose = std::min(key1, key2); firstPose = std::min(key1, key2);
break; break;
} }
if((key2 >= firstStep && key1 < key2) || (key1 >= firstStep && key2 < key1)) { if(((int)key2 >= firstStep && key1 < key2) || (key1 >= firstStep && key2 < key1)) {
// We found an odometry joining firstStep with a previous pose // We found an odometry joining firstStep with a previous pose
havePreviousPose = true; havePreviousPose = true;
firstPose = std::max(key1, key2); firstPose = std::max(key1, key2);
@ -303,7 +287,9 @@ void runIncremental()
cout << "Playing forward time steps..." << endl; cout << "Playing forward time steps..." << endl;
for(size_t step = firstPose; nextMeasurement < datasetMeasurements.size() && (lastStep == -1 || step <= lastStep); ++step) for (size_t step = firstPose;
nextMeasurement < datasetMeasurements.size() && (lastStep == -1 || (int)step <= lastStep);
++step)
{ {
Values newVariables; Values newVariables;
NonlinearFactorGraph newFactors; NonlinearFactorGraph newFactors;

14
gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
View File

@ -88,11 +88,13 @@ int main(int argc, char** argv){
} }
Values initial_pose_values = initial_estimate.filter<Pose3>(); Values initial_pose_values = initial_estimate.filter<Pose3>();
if(output_poses){ if (output_poses) {
init_pose3Out.open(init_poseOutput.c_str(),ios::out); init_pose3Out.open(init_poseOutput.c_str(), ios::out);
for(int i = 1; i<=initial_pose_values.size(); i++){ for (size_t i = 1; i <= initial_pose_values.size(); i++) {
init_pose3Out << i << " " << initial_pose_values.at<Pose3>(Symbol('x',i)).matrix().format(Eigen::IOFormat(Eigen::StreamPrecision, 0, init_pose3Out
" ", " ")) << endl; << i << " "
<< initial_pose_values.at<Pose3>(Symbol('x', i)).matrix().format(
Eigen::IOFormat(Eigen::StreamPrecision, 0, " ", " ")) << endl;
} }
} }
@ -141,7 +143,7 @@ int main(int argc, char** argv){
if(output_poses){ if(output_poses){
pose3Out.open(poseOutput.c_str(),ios::out); pose3Out.open(poseOutput.c_str(),ios::out);
for(int i = 1; i<=pose_values.size(); i++){ for(size_t i = 1; i<=pose_values.size(); i++){
pose3Out << i << " " << pose_values.at<Pose3>(Symbol('x',i)).matrix().format(Eigen::IOFormat(Eigen::StreamPrecision, 0, pose3Out << i << " " << pose_values.at<Pose3>(Symbol('x',i)).matrix().format(Eigen::IOFormat(Eigen::StreamPrecision, 0,
" ", " ")) << endl; " ", " ")) << endl;
} }