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address some maybe-uninitialized warnings (GCC9)

This commit is contained in:
Nikolaus Demmel 2020-06-24 12:19:26 +02:00
parent 447c1e01d2
commit 4034f136d7
2 changed files with 7 additions and 2 deletions
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4
src/calibration/calibraiton_helper.cpp
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@ -69,7 +69,9 @@ bool estimateTransformation(
for (size_t i = 0; i < corners.size(); i++) { for (size_t i = 0; i < corners.size(); i++) {
Eigen::Vector4d tmp; Eigen::Vector4d tmp;
cam_calib.unproject(corners[i], tmp); if (!cam_calib.unproject(corners[i], tmp)) {
continue;
}
Eigen::Vector3d bearing = tmp.head<3>(); Eigen::Vector3d bearing = tmp.head<3>();
Eigen::Vector3d point = aprilgrid_corner_pos_3d[corner_ids[i]].head<3>(); Eigen::Vector3d point = aprilgrid_corner_pos_3d[corner_ids[i]].head<3>();
bearing.normalize(); bearing.normalize();

5
src/calibration/cam_calib.cpp
View File

@ -486,7 +486,8 @@ void CamCalib::initCamIntrinsics() {
for (size_t j = 0; j < vio_dataset->get_num_cams(); j++) { for (size_t j = 0; j < vio_dataset->get_num_cams(); j++) {
if (!cam_initialized[j]) { if (!cam_initialized[j]) {
std::vector<CalibCornerData *> pinhole_corners; std::vector<CalibCornerData *> pinhole_corners;
int w, h; int w = 0;
int h = 0;
for (size_t i = 0; i < vio_dataset->get_image_timestamps().size(); for (size_t i = 0; i < vio_dataset->get_image_timestamps().size();
i += inc) { i += inc) {
@ -507,6 +508,8 @@ void CamCalib::initCamIntrinsics() {
h = img_vec[j].img->h; h = img_vec[j].img->h;
} }
BASALT_ASSERT(w > 0 && h > 0);
Eigen::Vector4d init_intr; Eigen::Vector4d init_intr;
bool success = CalibHelper::initializeIntrinsicsPinhole( bool success = CalibHelper::initializeIntrinsicsPinhole(