Add compiler options (#73)

Author: MatthijsBurgh

ed_sensor_integration/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(ed_sensor_integration)
 
+add_compile_options(-Wall -Werror=all)
+add_compile_options(-Wextra -Werror=extra)
+
 find_package(catkin REQUIRED COMPONENTS
   ed
   ed_sensor_integration_msgs
@@ -31,6 +34,7 @@ catkin_package(
 
 include_directories(
   include
+  SYSTEM
   ${catkin_INCLUDE_DIRS}
 )
 

ed_sensor_integration/include/ed/laser/updater.h

@@ -82,13 +82,13 @@ class LaserUpdater
     void renderWorld(const geo::Pose3D& sensor_pose, const ed::WorldModel& world, std::vector<double>& model_ranges);
 
     // parameters
-    int min_segment_size_pixels_; // in nr of laser points
+    uint min_segment_size_pixels_; // in nr of laser points
     double world_association_distance_; // in m
     double segment_depth_threshold_; 
     double min_cluster_size_;
     double max_cluster_size_;
     bool fit_entities_;
-    int max_gap_size_;
+    uint max_gap_size_;
 
 private:
     /**

ed_sensor_integration/src/association_matrix.cpp

@@ -15,7 +15,7 @@ bool compareEntries(const AssociationMatrix::Entry& e1, const AssociationMatrix:
 
 // ----------------------------------------------------------------------------------------------------
 
-AssociationMatrix::AssociationMatrix(unsigned int num_measurements) : matrix_(num_measurements), i_max_entity_(0)
+AssociationMatrix::AssociationMatrix(unsigned int num_measurements) : i_max_entity_(0), matrix_(num_measurements)
 {
 }
 
@@ -86,7 +86,7 @@ bool AssociationMatrix::calculateBestAssignment(Assignment& assig)
         for(unsigned int i = 0; i < assig_indexes.size(); ++i)
         {
             std::vector<Entry>& msr_row = matrix_[i];
-            int j = assig_indexes[i];
+            unsigned int j = assig_indexes[i];
 
             if (j + 1 < msr_row.size())
             {

ed_sensor_integration/src/kinect/association.cpp

@@ -126,7 +126,7 @@ void associateAndUpdate(const std::vector<ed::EntityConstPtr>& entities, const r
 
             // Update the entity
             const ed::EntityConstPtr& e = entities[i_entity];
-            const ed::ConvexHull& entity_chull = e->convexHull();
+//            const ed::ConvexHull& entity_chull = e->convexHull();
 
             id = e->id();
 

ed_sensor_integration/src/kinect/fitter.cpp

@@ -464,7 +464,7 @@ void Fitter::checkExpectedBeamThroughEntity(const std::vector<double>& model_ran
     expected_ranges = model_ranges;
     std::vector<int> expected_identifiers(nr_data_points_, 0);
     renderEntity(entity, sensor_pose_xya, 1, expected_ranges, expected_identifiers);
-    if (expected_center_beam < 0 || expected_center_beam >= nr_data_points_)
+    if (expected_center_beam < 0 || expected_center_beam >= static_cast<int>(nr_data_points_))
         throw FitterError("Expected beam outside of measurement range(" + std::to_string(nr_data_points_) + "), index: " + std::to_string(expected_center_beam));
     if (expected_identifiers[expected_center_beam] != 1)  // expected center beam MUST contain the rendered model
         throw FitterError("Expected beam does not go through entity");

ed_sensor_integration/src/kinect/kinect_plugin.cpp

@@ -69,8 +69,6 @@ void KinectPlugin::initialize(ed::InitData& init)
 
 void KinectPlugin::process(const ed::PluginInput& data, ed::UpdateRequest& req)
 {
-    const ed::WorldModel& world = data.world;
-
     // - - - - - - - - - - - - - - - - - -
     // Fetch kinect image and pose
 

ed_sensor_integration/src/kinect/ray_tracer.cpp

@@ -21,7 +21,7 @@ class PointRenderResult : public geo::LaserRangeFinder::RenderResult
 
     PointRenderResult() : geo::LaserRangeFinder::RenderResult(dummy_ranges_), depth_(0.0), entity_("") {}
 
-    void renderPoint(uint index, float depth)
+    void renderPoint(uint /*index*/, float depth)
     {
         float old_depth = depth_;
         if (old_depth == 0.0 || depth < old_depth)

ed_sensor_integration/src/kinect/renderer.cpp

@@ -22,7 +22,7 @@ class SampleRenderResult : public geo::RenderResult
     {
     }
 
-    void renderPixel(int x, int y, float depth, int i_triangle)
+    void renderPixel(int x, int y, float depth, int /*i_triangle*/)
     {
         float old_depth = z_buffer_.at<float>(y, x);
         if (old_depth == 0)
@@ -61,8 +61,8 @@ void fitZRP(const geo::Shape& shape, const geo::Pose3D& shape_pose, const rgbd::
 
     // Create a resized version of the sensor depth image
     cv::Mat sensor_depth_img(height, width, CV_32FC1, 0.0);
-    for(int y = 0; y < height; ++y)
-        for(int x = 0; x < width; ++x)
+    for (uint y = 0; y < height; ++y)
+        for (uint x = 0; x < width; ++x)
             sensor_depth_img.at<float>(y, x) = view.getDepth(x, y);
 
     double min_error = 1e9; // TODO

ed_sensor_integration/src/kinect/segmenter.cpp

@@ -45,7 +45,7 @@ class DepthRenderer : public geo::RenderResult
     {
     }
 
-    void renderPixel(int x, int y, float depth, int i_triangle)
+    void renderPixel(int x, int y, float depth, int /*i_triangle*/)
     {
         float& old_depth = z_buffer.at<float>(y, x);
         if (old_depth == 0 || depth < old_depth)
@@ -107,7 +107,7 @@ class MinMaxRenderer : public geo::RenderResult
         max_buffer = cv::Mat(height, width, CV_32FC1, 0.0);
     }
 
-    void renderPixel(int x, int y, float depth, int i_triangle)
+    void renderPixel(int x, int y, float depth, int /*i_triangle*/)
     {
         // TODO: now the renderer can only deal with convex meshes, which means
         // that at each pixel there can only be one minimum and one maximum pixel

ed_sensor_integration/src/kinect/updater.cpp

@@ -122,7 +122,7 @@ std::vector<EntityUpdate> mergeOverlappingConvexHulls(const rgbd::Image& image,
   std::vector<int> collided_indices;
   std::map<int, std::vector<int> > collission_map;
 
-  for (int i = 0; i < updates.size(); ++i)
+  for (uint i = 0; i < updates.size(); ++i)
   {
     const EntityUpdate& u1 = updates[i];
 
@@ -132,7 +132,7 @@ std::vector<EntityUpdate> mergeOverlappingConvexHulls(const rgbd::Image& image,
       continue;
     }
 
-    for (int j = 0; j < updates.size(); ++j)
+    for (uint j = 0; j < updates.size(); ++j)
     {
     // skip self
         if (i == j)
@@ -153,7 +153,7 @@ std::vector<EntityUpdate> mergeOverlappingConvexHulls(const rgbd::Image& image,
   }
 
   // Now again loop over the updates and only push back in the new updates if it will not be merged into an other entity
-  for (int i = 0; i < updates.size(); ++i)
+  for (uint i = 0; i < updates.size(); ++i)
   {
     // If index in collided_indices, it will be merged to another one
     if (std::find(collided_indices.begin(), collided_indices.end(), i) == collided_indices.end())