From 05f604f5b6dda046edc38d583c2561475eb416bd Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Tue, 7 May 2019 18:19:00 +0300
Subject: [PATCH] Code tidy to remove warnings
---
CMakeLists.txt | 2 +-
net/cpp/src/dispatcher.cpp | 4 ++--
net/cpp/test/net_integration.cpp | 1 +
net/cpp/test/peer_unit.cpp | 6 ++---
net/cpp/test/uri_unit.cpp | 6 ++---
vision/include/ftl/calibrate.hpp | 7 +++++-
vision/include/ftl/local.hpp | 2 +-
vision/lib/elas/triangle.cpp | 38 ++++++++++++++++----------------
vision/src/algorithms/elas.cpp | 2 +-
vision/src/calibrate.cpp | 8 ++-----
10 files changed, 39 insertions(+), 37 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0e730d44..08daad6b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,7 +99,7 @@ check_include_file_cxx("opencv2/cudastereo.hpp" HAVE_OPENCVCUDA)
find_program(CPPCHECK_FOUND cppcheck)
if (CPPCHECK_FOUND)
message(STATUS "Found cppcheck: will perform source checks")
- set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=style" "--suppress=*:*catch.hpp" "--suppress=*:*json.hpp")
+ set(CMAKE_CXX_CPPCHECK "cppcheck" "--enable=style" "--suppress=*:*catch.hpp" "--suppress=*:*elas*" "--suppress=*:*json.hpp")
endif()
include_directories(${PROJECT_SOURCE_DIR}/common/cpp/include)
diff --git a/net/cpp/src/dispatcher.cpp b/net/cpp/src/dispatcher.cpp
index 269db7a6d..a2dfd5ad6 100644
--- a/net/cpp/src/dispatcher.cpp
+++ b/net/cpp/src/dispatcher.cpp
@@ -136,8 +136,8 @@ void ftl::net::Dispatcher::dispatch_notification(Peer &s, msgpack::object const
if (binding) {
try {
auto result = (*binding)(args);
- } catch (int e) {
- throw e;
+ } catch (const int &e) {
+ throw &e;
}
} else {
LOG(ERROR) << "Missing handler for incoming message";
diff --git a/net/cpp/test/net_integration.cpp b/net/cpp/test/net_integration.cpp
index 9197bab23..87a23ee27 100644
--- a/net/cpp/test/net_integration.cpp
+++ b/net/cpp/test/net_integration.cpp
@@ -91,6 +91,7 @@ TEST_CASE("Universe::broadcast()", "[net]") {
b.broadcast("done");
sleep_for(milliseconds(100));
+ REQUIRE( !done );
}
SECTION("no arguments to one peer") {
diff --git a/net/cpp/test/peer_unit.cpp b/net/cpp/test/peer_unit.cpp
index b7bebbcb1..583f615d4 100644
--- a/net/cpp/test/peer_unit.cpp
+++ b/net/cpp/test/peer_unit.cpp
@@ -185,7 +185,7 @@ TEST_CASE("Peer(int)", "[]") {
sleep_for(milliseconds(50));
- REQUIRE( s.getFTLVersion() == (8 << 16) + (5 << 8) + 2 );
+ REQUIRE( (s.getFTLVersion() == (8 << 16) + (5 << 8) + 2) );
}
SECTION("has correct peer id on full handshake") {
@@ -342,7 +342,7 @@ TEST_CASE("Peer::bind()", "[rpc]") {
sleep_for(milliseconds(50));
REQUIRE( (done == 55) );
- REQUIRE( readRPCReturn<int>(0) == 55 );
+ REQUIRE( (readRPCReturn<int>(0) == 55) );
}
SECTION("vector return value") {
@@ -361,7 +361,7 @@ TEST_CASE("Peer::bind()", "[rpc]") {
REQUIRE( (done == 55) );
auto res = readRPCReturn<vector<int>>(0);
- REQUIRE( res[1] == 45 );
+ REQUIRE( (res[1] == 45) );
}
}
diff --git a/net/cpp/test/uri_unit.cpp b/net/cpp/test/uri_unit.cpp
index e11b320f4..a9fde4e80 100644
--- a/net/cpp/test/uri_unit.cpp
+++ b/net/cpp/test/uri_unit.cpp
@@ -21,8 +21,8 @@ SCENARIO( "URI() can parse valid URIs", "[utility]" ) {
REQUIRE( uri.isValid() );
REQUIRE( uri.getScheme() == URI::SCHEME_HTTP );
REQUIRE( uri.getHost() == "localhost" );
- REQUIRE( uri.getPort() == 8080 );
- REQUIRE (uri.getPath() == "/test/case.html" );
+ REQUIRE( (uri.getPort() == 8080) );
+ REQUIRE( uri.getPath() == "/test/case.html" );
}
GIVEN( "a valid scheme with path and query" ) {
@@ -85,7 +85,7 @@ SCENARIO( "URI::getAttribute() from query" ) {
GIVEN( "an integer value" ) {
URI uri("http://localhost:1000/hello?x=56");
- REQUIRE( uri.getAttribute<int>("x") == 56 );
+ REQUIRE( (uri.getAttribute<int>("x") == 56) );
}
}
diff --git a/vision/include/ftl/calibrate.hpp b/vision/include/ftl/calibrate.hpp
index 79fb310b3..83a2bd9c1 100644
--- a/vision/include/ftl/calibrate.hpp
+++ b/vision/include/ftl/calibrate.hpp
@@ -29,7 +29,12 @@ class Calibrate {
// TODO(nick) replace or remove this class.
class Settings {
public:
- Settings() : goodInput(false) {}
+ Settings() : calibrationPattern(CHESSBOARD), squareSize(50.0f),
+ nrFrames(30), aspectRatio(1.0f), delay(100), writePoints(false), writeExtrinsics(true),
+ writeGrid(false), calibZeroTangentDist(false), calibFixPrincipalPoint(true),
+ flipVertical(false), showUndistorsed(true), useFisheye(false), fixK1(false),
+ fixK2(false), fixK3(false), fixK4(false), fixK5(false), cameraID(0), atImageList(0),
+ inputType(INVALID), goodInput(false), flag(0) {}
enum Pattern { NOT_EXISTING, CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
enum InputType { INVALID, CAMERA, VIDEO_FILE, IMAGE_LIST };
diff --git a/vision/include/ftl/local.hpp b/vision/include/ftl/local.hpp
index 80b527cc7..9a4204e65 100644
--- a/vision/include/ftl/local.hpp
+++ b/vision/include/ftl/local.hpp
@@ -12,7 +12,7 @@ namespace cv {
namespace ftl {
class LocalSource {
public:
- LocalSource(nlohmann::json &config);
+ explicit LocalSource(nlohmann::json &config);
LocalSource(const std::string &vid, nlohmann::json &config);
bool left(cv::Mat &m);
diff --git a/vision/lib/elas/triangle.cpp b/vision/lib/elas/triangle.cpp
index 8de1557bc..14d4a2d03 100644
--- a/vision/lib/elas/triangle.cpp
+++ b/vision/lib/elas/triangle.cpp
@@ -1419,27 +1419,27 @@ void printtriangle(struct mesh *m, struct behavior *b, struct otri *t)
struct osub printsh;
vertex printvertex;
- printf("triangle x%lx with orientation %d:\n", (unsigned long long) t->tri,
+ printf("triangle x%lx with orientation %d:\n", (unsigned long) t->tri,
t->orient);
decode(t->tri[0], printtri);
if (printtri.tri == m->dummytri) {
printf(" [0] = Outer space\n");
} else {
- printf(" [0] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [0] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(t->tri[1], printtri);
if (printtri.tri == m->dummytri) {
printf(" [1] = Outer space\n");
} else {
- printf(" [1] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [1] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(t->tri[2], printtri);
if (printtri.tri == m->dummytri) {
printf(" [2] = Outer space\n");
} else {
- printf(" [2] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [2] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
@@ -1448,37 +1448,37 @@ void printtriangle(struct mesh *m, struct behavior *b, struct otri *t)
printf(" Origin[%d] = NULL\n", (t->orient + 1) % 3 + 3);
else
printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 1) % 3 + 3, (unsigned long long) printvertex,
+ (t->orient + 1) % 3 + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
dest(*t, printvertex);
if (printvertex == (vertex) NULL)
printf(" Dest [%d] = NULL\n", (t->orient + 2) % 3 + 3);
else
printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- (t->orient + 2) % 3 + 3, (unsigned long long) printvertex,
+ (t->orient + 2) % 3 + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
apex(*t, printvertex);
if (printvertex == (vertex) NULL)
printf(" Apex [%d] = NULL\n", t->orient + 3);
else
printf(" Apex [%d] = x%lx (%.12g, %.12g)\n",
- t->orient + 3, (unsigned long long) printvertex,
+ t->orient + 3, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
if (b->usesegments) {
sdecode(t->tri[6], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [6] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [6] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(t->tri[7], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [7] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [7] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(t->tri[8], printsh);
if (printsh.ss != m->dummysub) {
- printf(" [8] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [8] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
}
@@ -1506,19 +1506,19 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
vertex printvertex;
printf("subsegment x%lx with orientation %d and mark %d:\n",
- (unsigned long long) s->ss, s->ssorient, mark(*s));
+ (unsigned long) s->ss, s->ssorient, mark(*s));
sdecode(s->ss[0], printsh);
if (printsh.ss == m->dummysub) {
printf(" [0] = No subsegment\n");
} else {
- printf(" [0] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [0] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
sdecode(s->ss[1], printsh);
if (printsh.ss == m->dummysub) {
printf(" [1] = No subsegment\n");
} else {
- printf(" [1] = x%lx %d\n", (unsigned long long) printsh.ss,
+ printf(" [1] = x%lx %d\n", (unsigned long) printsh.ss,
printsh.ssorient);
}
@@ -1527,28 +1527,28 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
printf(" Origin[%d] = NULL\n", 2 + s->ssorient);
else
printf(" Origin[%d] = x%lx (%.12g, %.12g)\n",
- 2 + s->ssorient, (unsigned long long) printvertex,
+ 2 + s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
sdest(*s, printvertex);
if (printvertex == (vertex) NULL)
printf(" Dest [%d] = NULL\n", 3 - s->ssorient);
else
printf(" Dest [%d] = x%lx (%.12g, %.12g)\n",
- 3 - s->ssorient, (unsigned long long) printvertex,
+ 3 - s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
decode(s->ss[6], printtri);
if (printtri.tri == m->dummytri) {
printf(" [6] = Outer space\n");
} else {
- printf(" [6] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [6] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
decode(s->ss[7], printtri);
if (printtri.tri == m->dummytri) {
printf(" [7] = Outer space\n");
} else {
- printf(" [7] = x%lx %d\n", (unsigned long long) printtri.tri,
+ printf(" [7] = x%lx %d\n", (unsigned long) printtri.tri,
printtri.orient);
}
@@ -1557,14 +1557,14 @@ void printsubseg(struct mesh *m, struct behavior *b, struct osub *s)
printf(" Segment origin[%d] = NULL\n", 4 + s->ssorient);
else
printf(" Segment origin[%d] = x%lx (%.12g, %.12g)\n",
- 4 + s->ssorient, (unsigned long long) printvertex,
+ 4 + s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
segdest(*s, printvertex);
if (printvertex == (vertex) NULL)
printf(" Segment dest [%d] = NULL\n", 5 - s->ssorient);
else
printf(" Segment dest [%d] = x%lx (%.12g, %.12g)\n",
- 5 - s->ssorient, (unsigned long long) printvertex,
+ 5 - s->ssorient, (unsigned long) printvertex,
printvertex[0], printvertex[1]);
}
diff --git a/vision/src/algorithms/elas.cpp b/vision/src/algorithms/elas.cpp
index ca3735744..b99c309c9 100644
--- a/vision/src/algorithms/elas.cpp
+++ b/vision/src/algorithms/elas.cpp
@@ -35,7 +35,7 @@ void ELAS::compute(const cv::Mat &l, const cv::Mat &r, cv::Mat &disp) {
disp = Mat(cv::Size(l.cols, l.rows), CV_32F);
Mat dispr(cv::Size(l.cols, l.rows), CV_32F);
- const int32_t dims[3] = {l.cols,l.rows,lbw.step};
+ const int32_t dims[3] = {l.cols,l.rows,static_cast<int32_t>(lbw.step)};
if (disp.step/sizeof(float) != lbw.step) LOG(WARNING) << "Incorrect disparity step";
diff --git a/vision/src/calibrate.cpp b/vision/src/calibrate.cpp
index 7151a01bb..e5025a9d8 100644
--- a/vision/src/calibrate.cpp
+++ b/vision/src/calibrate.cpp
@@ -491,7 +491,7 @@ static double computeReprojectionErrors(
vector<float>& perViewErrors, bool fisheye) {
vector<Point2f> imagePoints2;
size_t totalPoints = 0;
- double totalErr = 0, err;
+ double totalErr = 0;
perViewErrors.resize(objectPoints.size());
for (size_t i = 0; i < objectPoints.size(); ++i) {
@@ -502,7 +502,7 @@ static double computeReprojectionErrors(
projectPoints(objectPoints[i], rvecs[i], tvecs[i], cameraMatrix,
distCoeffs, imagePoints2);
}
- err = norm(imagePoints[i], imagePoints2, NORM_L2);
+ double err = norm(imagePoints[i], imagePoints2, NORM_L2);
size_t n = objectPoints[i].size();
perViewErrors[i] = static_cast<float>(std::sqrt(err*err/n));
@@ -576,10 +576,6 @@ static bool _runCalibration(const Calibrate::Settings& s, Size& imageSize,
tvecs.push_back(_tvecs.row(i));
}
} else {
- int iFixedPoint = -1;
- if (release_object)
- iFixedPoint = s.boardSize.width - 1;
-
rms = calibrateCamera(objectPoints, imagePoints, imageSize,
cameraMatrix, distCoeffs, rvecs, tvecs,
s.flag | CALIB_USE_LU);
--
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