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shut up some warnings on Windows

release/4.3a0
Chris Beall 2014-05-06 22:57:26 -04:00
parent 3e3e919718
commit 1062e41de3
2 changed files with 9 additions and 9 deletions
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8
gtsam_unstable/slam/SmartFactorBase.h
View File

@ -220,7 +220,7 @@ public:
Point2 reprojectionError(camera.project(point) - zi);
overallError += 0.5
* this->noise_.at(i)->distance(reprojectionError.vector());
} catch (CheiralityException& e) {
} catch (CheiralityException&) {
std::cout << "Cheirality exception " << std::endl;
exit (EXIT_FAILURE);
}
@ -260,7 +260,7 @@ public:
double computeJacobians(std::vector<KeyMatrix2D>& Fblocks, Matrix& E,
Vector& b, const Cameras& cameras, const Point3& point) const {
int numKeys = this->keys_.size();
size_t numKeys = this->keys_.size();
E = zeros(2 * numKeys, 3);
b = zero(2 * numKeys);
double f = 0;
@ -272,7 +272,7 @@ public:
try {
bi =
-(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
} catch (CheiralityException& e) {
} catch (CheiralityException&) {
std::cout << "Cheirality exception " << std::endl;
exit (EXIT_FAILURE);
}
@ -321,7 +321,7 @@ public:
const Cameras& cameras, const Point3& point,
const double lambda = 0.0) const {
int numKeys = this->keys_.size();
size_t numKeys = this->keys_.size();
std::vector < KeyMatrix2D > Fblocks;
double f = computeJacobians(Fblocks, E, PointCov, b, cameras, point,
lambda);

10
gtsam_unstable/slam/SmartProjectionFactor.h
View File

@ -234,14 +234,14 @@ public:
rankTolerance_, enableEPI_);
degenerate_ = false;
cheiralityException_ = false;
} catch (TriangulationUnderconstrainedException& e) {
} catch (TriangulationUnderconstrainedException&) {
// if TriangulationUnderconstrainedException can be
// 1) There is a single pose for triangulation - this should not happen because we checked the number of poses before
// 2) The rank of the matrix used for triangulation is < 3: rotation-only, parallel cameras (or motion towards the landmark)
// in the second case we want to use a rotation-only smart factor
degenerate_ = true;
cheiralityException_ = false;
} catch (TriangulationCheiralityException& e) {
} catch (TriangulationCheiralityException&) {
// point is behind one of the cameras: can be the case of close-to-parallel cameras or may depend on outliers
// we manage this case by either discarding the smart factor, or imposing a rotation-only constraint
cheiralityException_ = true;
@ -279,7 +279,7 @@ public:
const Cameras& cameras, const double lambda = 0.0) const {
bool isDebug = false;
int numKeys = this->keys_.size();
size_t numKeys = this->keys_.size();
// Create structures for Hessian Factors
std::vector < Key > js;
std::vector < Matrix > Gs(numKeys * (numKeys + 1) / 2);
@ -351,10 +351,10 @@ public:
// Populate Gs and gs
int GsCount2 = 0;
for (DenseIndex i1 = 0; i1 < numKeys; i1++) { // for each camera
for (DenseIndex i1 = 0; i1 < (DenseIndex)numKeys; i1++) { // for each camera
DenseIndex i1D = i1 * D;
gs.at(i1) = gs_vector.segment < D > (i1D);
for (DenseIndex i2 = 0; i2 < numKeys; i2++) {
for (DenseIndex i2 = 0; i2 < (DenseIndex)numKeys; i2++) {
if (i2 >= i1) {
Gs.at(GsCount2) = H.block < D, D > (i1D, i2 * D);
GsCount2++;