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avoid more warnings on Linux

release/4.3a0
Frank Dellaert 2022-02-16 21:27:28 -05:00
parent bac5d4f120
commit 0167716037
2 changed files with 9 additions and 8 deletions
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14
gtsam/geometry/PinholeCamera.h
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@ -230,13 +230,15 @@ public:
Point2 _project2(const POINT& pw, OptionalJacobian<2, dimension> Dcamera,
OptionalJacobian<2, FixedDimension<POINT>::value> Dpoint) const {
// We just call 3-derivative version in Base
Matrix26 Dpose;
Eigen::Matrix<double, 2, DimK> Dcal;
Point2 pi = Base::project(pw, Dcamera ? &Dpose : 0, Dpoint,
Dcamera ? &Dcal : 0);
if (Dcamera)
if (Dcamera){
Matrix26 Dpose;
Eigen::Matrix<double, 2, DimK> Dcal;
const Point2 pi = Base::project(pw, Dpose, Dpoint, Dcal);
*Dcamera << Dpose, Dcal;
return pi;
return pi;
} else {
return Base::project(pw, boost::none, Dpoint, boost::none);
}
}
/// project a 3D point from world coordinates into the image

3
gtsam/nonlinear/tests/testCallRecord.cpp
View File

@ -153,7 +153,7 @@ TEST(CallRecord, virtualReverseAdDispatching) {
}
{
const int Rows = 6;
record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>(), NJM);
record.CallRecord::reverseAD2(Eigen::Matrix<double, Rows, Cols>::Zero(), NJM);
EXPECT((assert_equal(record.cc, CallConfig(Rows, Cols))));
record.CallRecord::reverseAD2(DynRowMat(Rows, Cols), NJM);
EXPECT((assert_equal(record.cc, CallConfig(Eigen::Dynamic, Cols, Rows, Cols))));
@ -168,4 +168,3 @@ int main() {
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */