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Reduce compilation warnings #64

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Reduce compilation warnings #64

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2 changes: 1 addition & 1 deletion src/UINode/PingThread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ void PingThread::stopSystem()
double parsePingResult(std::string s)
{
// 20008 bytes from localhost (127.0.0.1): icmp_req=1 ttl=64 time=0.075 ms
int pos = s.find("time=");
size_t pos = s.find("time=");
int found = 0;
float ms;
if(pos != std::string::npos)
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2 changes: 1 addition & 1 deletion src/UINode/tum_ardrone_gui.cpp
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Expand Up @@ -401,7 +401,7 @@ ControlCommand tum_ardrone_gui::calcKBControl()
{
// clear keys that have not been refreshed for 1s, it is set to "not pressed"
for(int i=0;i<8;i++)
isPressed[i] = isPressed[i] && ((lastRepeat[i] + 1000) > getMS());
isPressed[i] = isPressed[i] && ((lastRepeat[i] + 1000) > (unsigned int)getMS());

ControlCommand c;

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4 changes: 2 additions & 2 deletions src/autopilot/ControlNode.cpp
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Expand Up @@ -167,12 +167,12 @@ void ControlNode::popNextCommand(const tum_ardrone::filter_stateConstPtr statePt
float parameters[10];

// replace macros
if((p = command.find("$POSE$")) != std::string::npos)
if((size_t)(p = command.find("$POSE$")) != std::string::npos)
{
snprintf(buf,100, "%.3f %.3f %.3f %.3f",statePtr->x,statePtr->y,statePtr->z,statePtr->yaw);
command.replace(p,6,buf);
}
if((p = command.find("$REFERENCE$")) != std::string::npos)
if((size_t)(p = command.find("$REFERENCE$")) != std::string::npos)
{
snprintf(buf,100, "%.3f %.3f %.3f %.3f",parameter_referenceZero.pos[0],parameter_referenceZero.pos[1],parameter_referenceZero.pos[2],parameter_referenceZero.yaw);
command.replace(p,11,buf);
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4 changes: 2 additions & 2 deletions src/autopilot/DroneController.cpp
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Expand Up @@ -56,7 +56,7 @@ ControlCommand DroneController::update(tum_ardrone::filter_stateConstPtr state)
TooN::Vector<3> pose = TooN::makeVector(state->x, state->y, state->z);
double yaw = state->yaw;
TooN::Vector<4> speeds = TooN::makeVector(state->dx, state->dy, state->dz, state->dyaw);
ptamIsGood = state->ptamState == state->PTAM_BEST || state->ptamState == state->PTAM_GOOD || state->ptamState == state->PTAM_TOOKKF;
ptamIsGood = state->ptamState == (unsigned int)state->PTAM_BEST || state->ptamState == (unsigned int)state->PTAM_GOOD || state->ptamState == (unsigned int)state->PTAM_TOOKKF;
scaleAccuracy = state->scaleAccuracy;

// calculate (new) errors.
Expand Down Expand Up @@ -96,7 +96,7 @@ void DroneController::setTarget(DronePosition newTarget)

char buf[200];
snprintf(buf,200,"New Target: xyz = %.3f, %.3f, %.3f, yaw=%.3f", target.pos[0],target.pos[1],target.pos[2],target.yaw);
ROS_INFO(buf);
ROS_INFO("%s", buf);

if(node != NULL)
node->publishCommand(std::string("u l ") + buf);
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4 changes: 2 additions & 2 deletions src/autopilot/KI/KIAutoInit.cpp
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Expand Up @@ -135,7 +135,7 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
}
else // time is up, take second KF
{
if(statePtr->ptamState == statePtr->PTAM_INITIALIZING) // TODO: ptam status enum, this should be PTAM_INITIALIZING
if(statePtr->ptamState == (unsigned int)statePtr->PTAM_INITIALIZING) // TODO: ptam status enum, this should be PTAM_INITIALIZING
{
node->publishCommand("p space");
stageStarted = getMS();
Expand All @@ -155,7 +155,7 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
case WAIT_FOR_SECOND:

// am i done?
if(statePtr->ptamState == statePtr->PTAM_BEST || statePtr->ptamState == statePtr->PTAM_GOOD || statePtr->ptamState == statePtr->PTAM_TOOKKF) // TODO: PTAM_GOOD or PTAM_BEST or PTAM_TOOKKF
if(statePtr->ptamState == (unsigned int)statePtr->PTAM_BEST || statePtr->ptamState == (unsigned int)statePtr->PTAM_GOOD || statePtr->ptamState == (unsigned int)statePtr->PTAM_TOOKKF) // TODO: PTAM_GOOD or PTAM_BEST or PTAM_TOOKKF
{
controller->setTarget(DronePosition(
TooN::makeVector(statePtr->x,statePtr->y,statePtr->z),statePtr->yaw));
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4 changes: 1 addition & 3 deletions src/stateestimation/EstimationNode.cpp
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Expand Up @@ -531,7 +531,7 @@ void EstimationNode::reSendInfo()
// parse PTAM message
std::string ptamMsg = ptamWrapper->lastPTAMMessage;
int kf, kp, kps[4], kpf[4];
int pos = ptamMsg.find("Found: ");
size_t pos = ptamMsg.find("Found: ");
int found = 0;
if(pos != std::string::npos)
found = sscanf(ptamMsg.substr(pos).c_str(),"Found: %d/%d %d/%d %d/%d %d/%d Map: %dP, %dKF",
Expand All @@ -543,8 +543,6 @@ void EstimationNode::reSendInfo()
else
snprintf(bufp,200,"Map: -");

lastNavdataReceived.batteryPercent;

std::string status = "";
switch( lastNavdataReceived.state)
{
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1 change: 0 additions & 1 deletion src/stateestimation/PTAM/MiniPatch.cc
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Expand Up @@ -37,7 +37,6 @@ bool MiniPatch::FindPatch(CVD::ImageRef &irPos,
vector<ImageRef> &vCorners,
std::vector<int> *pvRowLUT)
{
ImageRef irCenter = irPos;
ImageRef irBest;
int nBestSSD = mnMaxSSD + 1;
ImageRef irBBoxTL = irPos - ImageRef(nRange, nRange);
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14 changes: 7 additions & 7 deletions src/stateestimation/PTAMWrapper.cpp
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Expand Up @@ -196,7 +196,7 @@ void PTAMWrapper::run()


snprintf(charBuf,200,"Video resolution: %d x %d",frameWidth,frameHeight);
ROS_INFO(charBuf);
ROS_INFO("%s", charBuf);
node->publishCommand(std::string("u l ")+charBuf);

// create window
Expand Down Expand Up @@ -498,13 +498,13 @@ void PTAMWrapper::HandleFrame()
//filter->useScalingFixpoint = true;

snprintf(charBuf,500,"locking scale fixpoint to %.3f %.3f %.3f",PTAMResultTransformed[0], PTAMResultTransformed[1], PTAMResultTransformed[2]);
ROS_INFO(charBuf);
ROS_INFO("%s", charBuf);
node->publishCommand(std::string("u l ")+charBuf);
}


// ----------------------------- Take KF? -----------------------------------
if(!mapLocked && isVeryGood && (forceKF || mpMap->vpKeyFrames.size() < maxKF || maxKF <= 1))
if(!mapLocked && isVeryGood && (forceKF || (int)(mpMap->vpKeyFrames.size()) < maxKF || maxKF <= 1))
{
mpTracker->TakeKF(forceKF);
forceKF = false;
Expand Down Expand Up @@ -572,7 +572,7 @@ void PTAMWrapper::HandleFrame()
fle->flush();
fle->close();

printf("FLUSHED %d KEYPOINTS to file pointcloud.txt\n\n",mapPointsTransformed.size());
printf("FLUSHED %lu KEYPOINTS to file pointcloud.txt\n\n",mapPointsTransformed.size());

flushMapKeypoints = false;
}
Expand Down Expand Up @@ -812,12 +812,12 @@ TooN::Vector<3> PTAMWrapper::evalNavQue(unsigned int from, unsigned int to, bool
)
{
int frontStamp = getMS(cur->header.stamp);
if(frontStamp < from) // packages before: delete
if(frontStamp < (int)from) // packages before: delete
{
//navInfoQueue.pop_front();
skipped++;
}
else if(frontStamp >= from && frontStamp <= to)
else if(frontStamp >= (int)from && frontStamp <= (int)to)
{
if(firstAdded == 0)
{
Expand Down Expand Up @@ -922,7 +922,7 @@ void PTAMWrapper::newImage(sensor_msgs::ImageConstPtr img)

// copy to mimFrame.
// TODO: make this threadsafe (save pointer only and copy in HandleFrame)
if(mimFrameBW.size().x != img->width || mimFrameBW.size().y != img->height)
if(mimFrameBW.size().x != (int)(img->width) || mimFrameBW.size().y != (int)(img->height))
mimFrameBW.resize(CVD::ImageRef(img->width, img->height));

memcpy(mimFrameBW.data(),cv_ptr->image.data,img->width * img->height);
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