fix incorrect if

components/calibration/src/extrinsic.cpp

@@ -390,7 +390,6 @@ void ExtrinsicCalibration::updateStatus_(std::string str) {
 
 void ExtrinsicCalibration::calculatePairPose(unsigned int c1, unsigned int c2) {
 
-	const auto& visibility =  points_.visibility();
 	// calculate paramters and update triangulation
 
 	cv::Mat K1 = calib_[c1].intrinsic.matrix();
@@ -555,7 +554,7 @@ void ExtrinsicCalibration::calculateInitialPoses() {
 			// already calibrated. skip chain
 			continue;
 		}
-		if (c == c_ref) { continue; }
+		if (c == unsigned(c_ref)) { continue; }
 
 		cv::Mat R_chain = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
 		cv::Mat t_chain = cv::Mat(cv::Size(1, 3), CV_64FC1, cv::Scalar(0.0));
@@ -698,7 +697,7 @@ double ExtrinsicCalibration::optimize() {
 
 			unsigned int n = px.size();
 			unsigned int m = n / 2;
-			if (m == 0) {
+			if (n == 0) {
 				n_points_missing++;
 				break;
 			}