Fixed many warnings on Ubuntu

gtsam/base/tests/testTreeTraversal.cpp

@@ -45,11 +45,11 @@ struct TestForest {
 };
 
 TestForest makeTestForest() {
-  //    0     1
-  //   / \
-  //  2   3
-  //      |
-  //      4
+  //     0     1
+  //   / |
+  //  2  3
+  //     |
+  //     4
   TestForest forest;
   forest.roots_.push_back(boost::make_shared<TestNode>(0));
   forest.roots_.push_back(boost::make_shared<TestNode>(1));

gtsam/discrete/DecisionTree-inl.h

@@ -467,7 +467,7 @@ namespace gtsam {
 
     // find highest label among branches
     boost::optional<L> highestLabel;
-    boost::optional<size_t> nrChoices;
+    size_t nrChoices = 0;
     for (Iterator it = begin; it != end; it++) {
       if (it->root_->isLeaf())
         continue;
@@ -475,22 +475,21 @@ namespace gtsam {
           boost::dynamic_pointer_cast<const Choice>(it->root_);
       if (!highestLabel || c->label() > *highestLabel) {
         highestLabel.reset(c->label());
-        nrChoices.reset(c->nrChoices());
+        nrChoices = c->nrChoices();
       }
     }
 
     // if label is already in correct order, just put together a choice on label
-    if (!highestLabel || !nrChoices || label > *highestLabel) {
+    if (!nrChoices || !highestLabel || label > *highestLabel) {
       boost::shared_ptr<Choice> choiceOnLabel(new Choice(label, end - begin));
       for (Iterator it = begin; it != end; it++)
         choiceOnLabel->push_back(it->root_);
       return Choice::Unique(choiceOnLabel);
     } else {
       // Set up a new choice on the highest label
-      boost::shared_ptr<Choice> choiceOnHighestLabel(
-          new Choice(*highestLabel, *nrChoices));
+      boost::shared_ptr<Choice> choiceOnHighestLabel(new Choice(*highestLabel, nrChoices));
       // now, for all possible values of highestLabel
-      for (size_t index = 0; index < *nrChoices; index++) {
+      for (size_t index = 0; index < nrChoices; index++) {
         // make a new set of functions for composing by iterating over the given
         // functions, and selecting the appropriate branch.
         std::vector<DecisionTree> functions;

gtsam/linear/NoiseModel.cpp

@@ -293,7 +293,7 @@ namespace internal {
 // switch precisions and invsigmas to finite value
 // TODO: why?? And, why not just ask s==0.0 below ?
 static void fix(const Vector& sigmas, Vector& precisions, Vector& invsigmas) {
-  for (size_t i = 0; i < sigmas.size(); ++i)
+  for (Vector::Index i = 0; i < sigmas.size(); ++i)
     if (!std::isfinite(1. / sigmas[i])) {
       precisions[i] = 0.0;
       invsigmas[i] = 0.0;

gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -25,9 +25,10 @@
 
 #include <boost/algorithm/string.hpp>
 #include <boost/range/adaptor/map.hpp>
+#include <fstream>
+#include <limits>
 #include <string>
 #include <cmath>
-#include <fstream>
 
 using namespace std;
 
@@ -178,7 +179,7 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem(
         SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);
         damped += boost::make_shared<JacobianFactor>(key_vector.first, A, b,
             model);
-      } catch (std::exception e) {
+      } catch (const std::exception& e) {
         // Don't attempt any damping if no key found in diagonal
         continue;
       }
@@ -247,7 +248,7 @@ void LevenbergMarquardtOptimizer::iterate() {
     double modelFidelity = 0.0;
     bool step_is_successful = false;
     bool stopSearchingLambda = false;
-    double newError;
+    double newError = numeric_limits<double>::infinity();
     Values newValues;
     VectorValues delta;
 
@@ -255,7 +256,7 @@ void LevenbergMarquardtOptimizer::iterate() {
     try {
       delta = solve(dampedSystem, state_.values, params_);
       systemSolvedSuccessfully = true;
-    } catch (IndeterminantLinearSystemException) {
+    } catch (const IndeterminantLinearSystemException& e) {
       systemSolvedSuccessfully = false;
     }
 

gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp

@@ -73,9 +73,7 @@ TEST( InvDepthFactorVariant1, optimize) {
   // Optimize the graph to recover the actual landmark position
   LevenbergMarquardtParams params;
   Values result = LevenbergMarquardtOptimizer(graph, values, params).optimize();
-  Vector6 actual = result.at<Vector6>(landmarkKey);
-  
-
+//  Vector6 actual = result.at<Vector6>(landmarkKey);
 //  values.at<Pose3>(poseKey1).print("Pose1 Before:\n");
 //  result.at<Pose3>(poseKey1).print("Pose1 After:\n");
 //  pose1.print("Pose1 Truth:\n");

wrap/utilities.cpp

@@ -91,7 +91,8 @@ bool files_equal(const string& expected, const string& actual, bool skipheader)
       cerr << "<<< DIFF OUTPUT (if none, white-space differences only):\n";
       stringstream command;
       command << "diff --ignore-all-space " << expected << " " << actual << endl;
-      system(command.str().c_str());
+      if (system(command.str().c_str())<0)
+        throw "command '" + command.str() + "' failed";
       cerr << ">>>\n";
     }
     return equal;