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fix compile

This commit is contained in:
Vladyslav Usenko 2019-07-16 13:55:16 +02:00
parent 3bb45510b5
commit e2e1ff0c70
7 changed files with 11 additions and 9 deletions
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2
CMakeLists.txt
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@ -93,7 +93,7 @@ set(CMAKE_CXX_FLAGS_CIDEBUG "-O0 -DEIGEN_INITIALIZE_MATRICES_BY_NAN")
set(CMAKE_CXX_FLAGS_CIRELWITHDEBINFO "-O3 -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # CI version with no debug symbols set(CMAKE_CXX_FLAGS_CIRELWITHDEBINFO "-O3 -DEIGEN_INITIALIZE_MATRICES_BY_NAN") # CI version with no debug symbols
# base set of compile flags # base set of compile flags
set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-unused-parameter -ftemplate-backtrace-limit=0") set(BASALT_CXX_FLAGS "-Wall -Wextra -Werror -Wno-error=unused-parameter -Wno-error=maybe-uninitialized -ftemplate-backtrace-limit=0")
# clang-specific compile flags # clang-specific compile flags
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")

2
include/basalt/calibration/calibration_helper.h
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@ -77,7 +77,7 @@ class CalibHelper {
calib_corners_rejected); calib_corners_rejected);
static void initCamPoses( static void initCamPoses(
const Calibration<double>::Ptr& calib, const VioDatasetPtr& vio_data, const Calibration<double>::Ptr& calib,
const Eigen::vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d, const Eigen::vector<Eigen::Vector4d>& aprilgrid_corner_pos_3d,
tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>& calib_corners, tbb::concurrent_unordered_map<TimeCamId, CalibCornerData>& calib_corners,
tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData>& tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData>&

6
include/basalt/optimization/spline_linearize.h
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@ -101,8 +101,7 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
const SplineT* spline; const SplineT* spline;
LinearizeSplineOpt(size_t opt_size, const SplineT* spl, LinearizeSplineOpt(size_t opt_size, const SplineT* spl,
const CalibCommonData& common_data, const CalibCommonData& common_data)
const SplineT* spl_lin = nullptr)
: opt_size(opt_size), spline(spl) { : opt_size(opt_size), spline(spl) {
this->common_data = common_data; this->common_data = common_data;
@ -670,8 +669,7 @@ struct ComputeErrorSplineOpt : public LinearizeBase<Scalar> {
const SplineT* spline; const SplineT* spline;
ComputeErrorSplineOpt(size_t opt_size, const SplineT* spl, ComputeErrorSplineOpt(size_t opt_size, const SplineT* spl,
const CalibCommonData& common_data, const CalibCommonData& common_data)
const SplineT* spl_lin = nullptr)
: opt_size(opt_size), spline(spl) { : opt_size(opt_size), spline(spl) {
this->common_data = common_data; this->common_data = common_data;

2
src/calibration/calibraiton_helper.cpp
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@ -139,7 +139,7 @@ void CalibHelper::detectCorners(
} }
void CalibHelper::initCamPoses( void CalibHelper::initCamPoses(
const Calibration<double>::Ptr &calib, const VioDatasetPtr &vio_data, const Calibration<double>::Ptr &calib,
const Eigen::vector<Eigen::Vector4d> &aprilgrid_corner_pos_3d, const Eigen::vector<Eigen::Vector4d> &aprilgrid_corner_pos_3d,
tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> &calib_corners, tbb::concurrent_unordered_map<TimeCamId, CalibCornerData> &calib_corners,
tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData> tbb::concurrent_unordered_map<TimeCamId, CalibInitPoseData>

2
src/calibration/cam_calib.cpp
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@ -528,7 +528,7 @@ void CamCalib::initCamPoses() {
std::cout << "Started initial camera pose computation " << std::endl; std::cout << "Started initial camera pose computation " << std::endl;
CalibHelper::initCamPoses(calib_opt->calib, this->vio_dataset, CalibHelper::initCamPoses(calib_opt->calib,
april_grid.aprilgrid_corner_pos_3d, april_grid.aprilgrid_corner_pos_3d,
this->calib_corners, this->calib_init_poses); this->calib_corners, this->calib_init_poses);

2
src/calibration/cam_imu_calib.cpp
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@ -284,7 +284,7 @@ void CamImuCalib::initCamPoses() {
{ {
std::cout << "Started initial camera pose computation " << std::endl; std::cout << "Started initial camera pose computation " << std::endl;
CalibHelper::initCamPoses(calib_opt->calib, this->vio_dataset, CalibHelper::initCamPoses(calib_opt->calib,
april_grid.aprilgrid_corner_pos_3d, april_grid.aprilgrid_corner_pos_3d,
this->calib_corners, this->calib_init_poses); this->calib_corners, this->calib_init_poses);

4
src/vi_estimator/keypoint_vio_linearize.cpp
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@ -45,6 +45,10 @@ void KeypointVioEstimator::linearizeMargPrior(const AbsOrderMap& aom,
BASALT_ASSERT(size_t(marg_H.cols()) == marg_order.total_size); BASALT_ASSERT(size_t(marg_H.cols()) == marg_order.total_size);
// Check if the order of variables is the same.
for (const auto& kv : marg_order.abs_order_map)
BASALT_ASSERT(aom.abs_order_map.at(kv.first) == kv.second);
size_t marg_size = marg_order.total_size; size_t marg_size = marg_order.total_size;
abs_H.topLeftCorner(marg_size, marg_size) += marg_H; abs_H.topLeftCorner(marg_size, marg_size) += marg_H;