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Correct signed vs unsigned comparison warnings

release/4.3a0
Andrew Melim 2014-03-17 12:07:54 -04:00
parent 719592258b
commit 9ffc928536
2 changed files with 11 additions and 11 deletions
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18
gtsam_unstable/partition/GenericGraph.cpp
View File

@ -224,7 +224,7 @@ namespace gtsam { namespace partition {
// find singular cameras and landmarks // find singular cameras and landmarks
foundSingularCamera = false; foundSingularCamera = false;
foundSingularLandmark = false; foundSingularLandmark = false;
for (int i=0; i<nrConstraints.size(); i++) { for (size_t i=0; i<nrConstraints.size(); i++) {
if (isCamera[i] && nrConstraints[i] < minNrConstraintsPerCamera && if (isCamera[i] && nrConstraints[i] < minNrConstraintsPerCamera &&
singularCameras.find(i) == singularCameras.end()) { singularCameras.find(i) == singularCameras.end()) {
singularCameras.insert(i); singularCameras.insert(i);
@ -240,7 +240,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */ /* ************************************************************************* */
list<vector<size_t> > findIslands(const GenericGraph3D& graph, const vector<size_t>& keys, WorkSpace& workspace, list<vector<size_t> > findIslands(const GenericGraph3D& graph, const vector<size_t>& keys, WorkSpace& workspace,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) { const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark) {
// create disjoint set forest // create disjoint set forest
workspace.prepareDictionary(keys); workspace.prepareDictionary(keys);
@ -319,7 +319,7 @@ namespace gtsam { namespace partition {
} }
// sanity check // sanity check
int nrKeys = 0; size_t nrKeys = 0;
BOOST_FOREACH(const vector<size_t>& island, islands) BOOST_FOREACH(const vector<size_t>& island, islands)
nrKeys += island.size(); nrKeys += island.size();
if (nrKeys != keys.size()) { if (nrKeys != keys.size()) {
@ -335,7 +335,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */ /* ************************************************************************* */
// return the number of intersection between two **sorted** landmark vectors // return the number of intersection between two **sorted** landmark vectors
inline int getNrCommonLandmarks(const vector<size_t>& landmarks1, const vector<size_t>& landmarks2){ inline int getNrCommonLandmarks(const vector<size_t>& landmarks1, const vector<size_t>& landmarks2){
int i1 = 0, i2 = 0; size_t i1 = 0, i2 = 0;
int nrCommonLandmarks = 0; int nrCommonLandmarks = 0;
while (i1 < landmarks1.size() && i2 < landmarks2.size()) { while (i1 < landmarks1.size() && i2 < landmarks2.size()) {
if (landmarks1[i1] < landmarks2[i2]) if (landmarks1[i1] < landmarks2[i2])
@ -391,8 +391,8 @@ namespace gtsam { namespace partition {
int factorIndex = 0; int factorIndex = 0;
int camera1, camera2, nrTotalConstraints; int camera1, camera2, nrTotalConstraints;
bool hasOdometry; bool hasOdometry;
for (int i1=0; i1<cameraKeys.size()-1; ++i1) { for (size_t i1=0; i1<cameraKeys.size()-1; ++i1) {
for (int i2=i1+1; i2<cameraKeys.size(); ++i2) { for (size_t i2=i1+1; i2<cameraKeys.size(); ++i2) {
camera1 = cameraKeys[i1]; camera1 = cameraKeys[i1];
camera2 = cameraKeys[i2]; camera2 = cameraKeys[i2];
int nrCommonLandmarks = getNrCommonLandmarks(cameraToLandmarks[camera1], cameraToLandmarks[camera2]); int nrCommonLandmarks = getNrCommonLandmarks(cameraToLandmarks[camera1], cameraToLandmarks[camera2]);
@ -408,7 +408,7 @@ namespace gtsam { namespace partition {
/* ************************************************************************* */ /* ************************************************************************* */
void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals, void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals,
WorkSpace& workspace, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark) { WorkSpace& workspace, const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark) {
workspace.prepareDictionary(frontals); workspace.prepareDictionary(frontals);
vector<size_t> nrConstraints(workspace.dictionary.size(), 0); vector<size_t> nrConstraints(workspace.dictionary.size(), 0);
@ -445,7 +445,7 @@ namespace gtsam { namespace partition {
size_t minFoundConstraintsPerCamera = 10000; size_t minFoundConstraintsPerCamera = 10000;
size_t minFoundConstraintsPerLandmark = 10000; size_t minFoundConstraintsPerLandmark = 10000;
for (int i=0; i<isValidCamera.size(); i++) { for (size_t i=0; i<isValidCamera.size(); i++) {
if (isValidCamera[i]) { if (isValidCamera[i]) {
minFoundConstraintsPerCamera = std::min(nrConstraints[i], minFoundConstraintsPerCamera); minFoundConstraintsPerCamera = std::min(nrConstraints[i], minFoundConstraintsPerCamera);
if (nrConstraints[i] < minNrConstraintsPerCamera) if (nrConstraints[i] < minNrConstraintsPerCamera)
@ -453,7 +453,7 @@ namespace gtsam { namespace partition {
} }
} }
for (int j=0; j<isValidLandmark.size(); j++) { for (size_t j=0; j<isValidLandmark.size(); j++) {
if (isValidLandmark[j]) { if (isValidLandmark[j]) {
minFoundConstraintsPerLandmark = std::min(nrConstraints[j], minFoundConstraintsPerLandmark); minFoundConstraintsPerLandmark = std::min(nrConstraints[j], minFoundConstraintsPerLandmark);
if (nrConstraints[j] < minNrConstraintsPerLandmark) if (nrConstraints[j] < minNrConstraintsPerLandmark)

4
gtsam_unstable/partition/GenericGraph.h
View File

@ -96,7 +96,7 @@ namespace gtsam { namespace partition {
/** merge nodes in DSF using constraints captured by the given graph */ /** merge nodes in DSF using constraints captured by the given graph */
std::list<std::vector<size_t> > findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace, std::list<std::vector<size_t> > findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark); const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
/** eliminate the sensors from generic graph */ /** eliminate the sensors from generic graph */
void reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys, const std::vector<size_t>& landmarkKeys, void reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys, const std::vector<size_t>& landmarkKeys,
@ -104,7 +104,7 @@ namespace gtsam { namespace partition {
/** check whether the 3D graph is singular (under constrained) */ /** check whether the 3D graph is singular (under constrained) */
void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals, void checkSingularity(const GenericGraph3D& graph, const std::vector<size_t>& frontals,
WorkSpace& workspace, const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark); WorkSpace& workspace, const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
/** print the graph **/ /** print the graph **/