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Fixing small warnings

release/4.3a0
Alex Cunningham 2012-07-10 18:35:57 +00:00
parent e6a294d188
commit af52b6811f
2 changed files with 3 additions and 3 deletions
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4
gtsam/slam/visualSLAM.cpp
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@ -31,7 +31,7 @@ namespace visualSLAM {
if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K"); if (Z.rows() != 2) throw std::invalid_argument("insertBackProjections: Z must be 2*K");
if (Z.cols() != J.size()) throw std::invalid_argument( if (Z.cols() != J.size()) throw std::invalid_argument(
"insertBackProjections: J and Z must have same number of entries"); "insertBackProjections: J and Z must have same number of entries");
for(size_t k=0;k<Z.cols();k++) { for(int k=0;k<Z.cols();k++) {
Point2 p(Z(0,k),Z(1,k)); Point2 p(Z(0,k),Z(1,k));
Point3 P = camera.backproject(p, depth); Point3 P = camera.backproject(p, depth);
insertPoint(J(k), P); insertPoint(J(k), P);
@ -82,7 +82,7 @@ namespace visualSLAM {
if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K");
if (Z.cols() != J.size()) throw std::invalid_argument( if (Z.cols() != J.size()) throw std::invalid_argument(
"addMeasurements: J and Z must have same number of entries"); "addMeasurements: J and Z must have same number of entries");
for (size_t k = 0; k < Z.cols(); k++) for (int k = 0; k < Z.cols(); k++)
addMeasurement(Point2(Z(0, k), Z(1, k)), model, i, J(k), K); addMeasurement(Point2(Z(0, k), Z(1, k)), model, i, J(k), K);
} }

2
tests/testGaussianISAM2.cpp
View File

@ -431,7 +431,7 @@ bool isam_check(const planarSLAM::Graph& fullgraph, const Values& fullinit, cons
bool totalGradOk = assert_equal(expectedGradient, actualGradient); bool totalGradOk = assert_equal(expectedGradient, actualGradient);
EXPECT(totalGradOk); EXPECT(totalGradOk);
return nodeGradientsOk && expectedGradOk && totalGradOk; return nodeGradientsOk && expectedGradOk && totalGradOk && isamEqual;
} }
/* ************************************************************************* */ /* ************************************************************************* */