diff --git a/CMakeLists.txt b/CMakeLists.txt
index f60dd1cd25bceed84ca19d424e9d1d0126a3cee6..bc61a7a6736a252e5b39583dca9246b526719dcb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -328,9 +328,9 @@ if (WIN32) # TODO(nick) Should do based upon compiler (VS)
set(OS_LIBS "")
else()
add_definitions(-DUNIX)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -msse3 -Werror")
- set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG -pg -Wall")
- set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -Wall -mfpmath=sse")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -msse3 -Werror -Wall")
+ set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG -pg")
+ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mfpmath=sse")
set(OS_LIBS "dl")
endif()
diff --git a/applications/calibration/src/lens.cpp b/applications/calibration/src/lens.cpp
index ffa3cd078593a3533b6cfa105ff3eae7f21e5f5e..72694ebacda05370a4a32a214e400c72a6d94d0e 100644
--- a/applications/calibration/src/lens.cpp
+++ b/applications/calibration/src/lens.cpp
@@ -193,7 +193,7 @@ void ftl::calibration::intrinsic(map<string, string> &opt) {
cv::destroyAllWindows();
- bool calib_ok = true;
+ //bool calib_ok = true;
for (int c = 0; c < n_cameras; c++) {
LOG(INFO) << "Calculating intrinsic paramters for camera " << std::to_string(c);
@@ -219,7 +219,7 @@ void ftl::calibration::intrinsic(map<string, string> &opt) {
continue;
}
- calib_ok = true;
+ //calib_ok = true;
calibrate_flags &= ~cv::CALIB_FIX_K1 & ~cv::CALIB_FIX_K2 & ~cv::CALIB_FIX_K3;
double fovx, fovy, focal_length, aspect_ratio;
diff --git a/applications/vision/CMakeLists.txt b/applications/vision/CMakeLists.txt
index 78d4bb28c548e41bf0b26b5e04019db75e21f63b..a40126b95f7cc9234078528a0f59263eecf0f802 100644
--- a/applications/vision/CMakeLists.txt
+++ b/applications/vision/CMakeLists.txt
@@ -6,7 +6,7 @@
set(CVNODESRC
src/main.cpp
- src/middlebury.cpp
+ #src/middlebury.cpp
)
add_executable(ftl-vision ${CVNODESRC})
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 06c352b25b6cbac045bafa8e3e96bb49ca93abd9..2dfabcc42bcbe52bdc07f5ad2632fd558f90b8ba 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -17,7 +17,7 @@
#include <opencv2/opencv.hpp>
#include <ftl/rgbd.hpp>
-#include <ftl/middlebury.hpp>
+//#include <ftl/middlebury.hpp>
#include <ftl/net/universe.hpp>
#include <ftl/master.hpp>
#include <nlohmann/json.hpp>
diff --git a/components/calibration/src/parameters.cpp b/components/calibration/src/parameters.cpp
index ef352b8a10908c7c57c8332b14d5fc4f53ee722a..d0e20aa63428670b6b7783fa3e7b1129c69585e7 100644
--- a/components/calibration/src/parameters.cpp
+++ b/components/calibration/src/parameters.cpp
@@ -206,7 +206,7 @@ bool ftl::calibration::validate::distortionCoefficients(const Mat &D, Size size)
(D.total() == 8) ||
(D.total() == 12))) { return false; }
- for (int i = 0; i < D.total(); i++) {
+ for (size_t i = 0; i < D.total(); i++) {
if (!std::isfinite(D.at<double>(i))) { return false; }
}
diff --git a/components/common/cpp/include/ftl/configurable.hpp b/components/common/cpp/include/ftl/configurable.hpp
index dfe84dc131f79bbc8744f078e51c1b068d9e2228..1c157ba601c01a1bb8cb01df5eddfd07b60b6269 100644
--- a/components/common/cpp/include/ftl/configurable.hpp
+++ b/components/common/cpp/include/ftl/configurable.hpp
@@ -15,6 +15,9 @@
#define REQUIRED(...) required(__func__, __VA_ARGS__)
+// TODO: Find a better place for this
+#define UNUSED(A) (void)(A)
+
namespace ftl {
class Configurable;
diff --git a/components/common/cpp/include/ftl/cuda_texture.hpp b/components/common/cpp/include/ftl/cuda_texture.hpp
index 8edf9c3fee32ad58659b93690caf492c64a100b7..6f710d9b76ed9812bcfe4597af404f34e1ad56e5 100644
--- a/components/common/cpp/include/ftl/cuda_texture.hpp
+++ b/components/common/cpp/include/ftl/cuda_texture.hpp
@@ -53,8 +53,8 @@ class TextureObjectBase {
inline size_t pixelPitch() const { return pitch2_; }
inline uchar *devicePtr() const { return ptr_; };
__host__ __device__ inline uchar *devicePtr(int v) const { return &ptr_[v*pitch_]; }
- __host__ __device__ inline int width() const { return width_; }
- __host__ __device__ inline int height() const { return height_; }
+ __host__ __device__ inline size_t width() const { return width_; }
+ __host__ __device__ inline size_t height() const { return height_; }
__host__ __device__ inline cudaTextureObject_t cudaTexture() const { return texobj_; }
cv::cuda::GpuMat to_gpumat() const;
@@ -72,8 +72,8 @@ class TextureObjectBase {
cudaTextureObject_t texobj_;
size_t pitch_;
size_t pitch2_; // in T units
- int width_;
- int height_;
+ size_t width_;
+ size_t height_;
uchar *ptr_; // Device memory pointer
bool needsfree_; // We manage memory, so free it
bool needsdestroy_; // The texture object needs to be destroyed
@@ -107,7 +107,7 @@ class TextureObject : public TextureObjectBase {
operator cv::cuda::GpuMat();
void create(const cv::Size &);
- void create(int w, int h);
+ void create(size_t w, size_t h);
__host__ __device__ T *devicePtr() const { return (T*)(ptr_); };
__host__ __device__ T *devicePtr(int v) const { return &(T*)(ptr_)[v*pitch2_]; }
@@ -292,7 +292,7 @@ void TextureObject<T>::create(const cv::Size &s) {
}
template <typename T>
-void TextureObject<T>::create(int w, int h) {
+void TextureObject<T>::create(size_t w, size_t h) {
if (width_ != w || height_ != h) {
*this = std::move(TextureObject<T>(w, h));
}
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index 79fb8720bd43fb7bbd35f1fff3fa0f7a537d195e..7d1cc2b5f315558ec282bfea7c7253948f72d732 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -54,7 +54,6 @@ double ftl::timer::get_time_seconds() {
}
static void waitTimePoint() {
- auto start = high_resolution_clock::now();
int64_t now = get_time();
int64_t target = now / mspf;
int64_t msdelay = mspf - (now % mspf);
diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index d3b4d1f328119551e79c07a97397502e9258ad1b..d5aeb743ac545ae525b2ee9a8c89cb86c098de38 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -46,8 +46,8 @@ callback_t ftl::net::Universe::cbid__ = 0;
Universe::Universe() :
Configurable(),
active_(true),
- impl_(new ftl::net::NetImplDetail),
this_peer(ftl::net::this_peer),
+ impl_(new ftl::net::NetImplDetail),
phase_(0),
send_size_(TCP_SEND_BUFFER_SIZE),
recv_size_(TCP_RECEIVE_BUFFER_SIZE),
@@ -62,8 +62,8 @@ Universe::Universe() :
Universe::Universe(nlohmann::json &config) :
Configurable(config),
active_(true),
- impl_(new ftl::net::NetImplDetail),
this_peer(ftl::net::this_peer),
+ impl_(new ftl::net::NetImplDetail),
phase_(0),
send_size_(value("tcp_send_buffer",TCP_SEND_BUFFER_SIZE)),
recv_size_(value("tcp_recv_buffer",TCP_RECEIVE_BUFFER_SIZE)),
diff --git a/components/net/cpp/test/net_integration.cpp b/components/net/cpp/test/net_integration.cpp
index 200e3c5f999e1428128dc2f382d92dee425b88ba..3f43ceb27c61ed0cce51b3a9c55b4b487915a2b4 100644
--- a/components/net/cpp/test/net_integration.cpp
+++ b/components/net/cpp/test/net_integration.cpp
@@ -286,6 +286,7 @@ TEST_CASE("Peer::call() __ping__", "") {
for (int i=0; i<100; ++i) {
ftl::pool.push([&count, p](int id) {
int64_t res = p->call<int64_t>("__ping__");
+ REQUIRE( res > 0 );
count++;
});
}
@@ -297,6 +298,7 @@ TEST_CASE("Peer::call() __ping__", "") {
bool errored = false;
try {
int64_t res = p->call<int64_t>("__ping2__");
+ REQUIRE( res > 0 ); // Not called or required actually
} catch (const ftl::exception &e) {
errored = true;
}
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index a3fb4cdd221d1852046011bea4edbec4848307b5..9fb3c045c66bbefa8fa7adaf820d9b8662ba7098 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/components/renderers/cpp/src/CUDARender.cpp
@@ -31,16 +31,6 @@ using ftl::cuda::Mask;
using ftl::render::parseCUDAColour;
using ftl::render::parseCVColour;
-static Eigen::Affine3d create_rotation_matrix(float ax, float ay, float az) {
- Eigen::Affine3d rx =
- Eigen::Affine3d(Eigen::AngleAxisd(ax, Eigen::Vector3d(1, 0, 0)));
- Eigen::Affine3d ry =
- Eigen::Affine3d(Eigen::AngleAxisd(ay, Eigen::Vector3d(0, 1, 0)));
- Eigen::Affine3d rz =
- Eigen::Affine3d(Eigen::AngleAxisd(az, Eigen::Vector3d(0, 0, 1)));
- return rz * rx * ry;
-}
-
CUDARender::CUDARender(nlohmann::json &config) : ftl::render::Renderer(config), scene_(nullptr) {
/*if (config["clipping"].is_object()) {
auto &c = config["clipping"];
@@ -208,7 +198,7 @@ void CUDARender::_adjustDepthThresholds(const ftl::rgbd::Camera &fcam) {
ftl::cuda::TextureObject<float> &CUDARender::_getDepthBuffer(const cv::Size &size) {
for (auto *b : depth_buffers_) {
- if (b->width() == size.width && b->height() == size.height) return *b;
+ if (b->width() == static_cast<size_t>(size.width) && b->height() == static_cast<size_t>(size.height)) return *b;
}
auto *nb = new ftl::cuda::TextureObject<float>(size.width, size.height);
depth_buffers_.push_back(nb);
@@ -217,7 +207,7 @@ ftl::cuda::TextureObject<float> &CUDARender::_getDepthBuffer(const cv::Size &siz
ftl::cuda::TextureObject<short2> &CUDARender::_getScreenBuffer(const cv::Size &size) {
for (auto *b : screen_buffers_) {
- if (b->width() == size.width && b->height() == size.height) return *b;
+ if (b->width() == static_cast<size_t>(size.width) && b->height() == static_cast<size_t>(size.height)) return *b;
}
auto *nb = new ftl::cuda::TextureObject<short2>(size.width, size.height);
screen_buffers_.push_back(nb);
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index 78e6645c7ce6c79ba1dd83156f502ba47b608a11..9ea3af5edb14153aac4cdf58aa02747ab24ca3e1 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -177,6 +177,8 @@ void Overlay::_drawFilledShape(Shape shape, const Eigen::Matrix4d &pose, float s
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count, loffset, lcount] = shapes_[shape];
+ UNUSED(loffset);
+ UNUSED(lcount);
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
oShader.setUniform("blockColour", Eigen::Vector4f(float(c.x)/255.0f,float(c.y)/255.0f,float(c.z)/255.0f,float(c.w)/255.0f));
@@ -215,6 +217,9 @@ void Overlay::_drawAxis(const Eigen::Matrix4d &pose, const Eigen::Vector3f &scal
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count,loffset,lcount] = shapes_[Shape::AXIS];
+ UNUSED(offset);
+ UNUSED(count);
+ UNUSED(lcount);
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index 688e5fed2ddd9d1ab53a92d5a5ddd8751c8be26a..6cbfcec5599b3eecee7a68e115d5874027eae13f 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -210,7 +210,7 @@ ftl::cuda::TextureObject<T> &Frame::getTexture(ftl::codecs::Channel c) {
auto &m = getData(c);
if (!m.isgpu) throw FTL_Error("Texture channel is not on GPU");
- if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != m.gpu.cols || m.tex.height() != m.gpu.rows || m.gpu.type() != m.tex.cvType()) {
+ if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows) || m.gpu.type() != m.tex.cvType()) {
throw FTL_Error("Texture has not been created properly for this channel: " << (int)c);
}
@@ -240,7 +240,7 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::codecs::Channel c, const
if (m.tex.devicePtr() == nullptr) {
//LOG(INFO) << "Creating texture object";
m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
- } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != m.gpu.cols || m.tex.height() != m.gpu.rows) {
+ } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows)) {
//LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'";
m.tex.free();
m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
@@ -272,7 +272,7 @@ ftl::cuda::TextureObject<T> &Frame::createTexture(ftl::codecs::Channel c, bool i
if (m.tex.devicePtr() == nullptr) {
//LOG(INFO) << "Creating texture object";
m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);
- } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != m.gpu.cols || m.tex.height() != m.gpu.rows || m.tex.devicePtr() != m.gpu.data) {
+ } else if (m.tex.cvType() != ftl::traits::OpenCVType<T>::value || m.tex.width() != static_cast<size_t>(m.gpu.cols) || m.tex.height() != static_cast<size_t>(m.gpu.rows) || m.tex.devicePtr() != m.gpu.data) {
//LOG(INFO) << "Recreating texture object for '" << ftl::codecs::name(c) << "'.";
m.tex.free();
m.tex = ftl::cuda::TextureObject<T>(m.gpu, interpolated);