fixing some MSVC issues caused by the merge

I guess it currently does not compile with MSVC. Still some stuff to fix.
RainerKuemmerle · Jun 11, 2014 · aecec52 · aecec52
1 parent f1fbd90
commit aecec52
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Showing 8 changed files with 20 additions and 16 deletions.
diff --git a/g2o/core/base_multi_edge.h b/g2o/core/base_multi_edge.h
@@ -48,7 +48,7 @@ namespace g2o {
    * E - type to represent the measurement
    */
   template <int D, typename E>
-    class G2O_CORE_API BaseMultiEdge : public BaseEdge<D,E>
+    class BaseMultiEdge : public BaseEdge<D,E>
     {
     public:
       /**
@@ -110,7 +110,7 @@ namespace g2o {
 
   // PARTIAL TEMPLATE SPECIALIZATION
   template <typename E>
-  class G2O_CORE_API BaseMultiEdge<-1,E> : public BaseEdge<-1,E>
+  class BaseMultiEdge<-1,E> : public BaseEdge<-1,E>
   {
     public:
       /**

diff --git a/g2o/core/hyper_graph_action.h b/g2o/core/hyper_graph_action.h
@@ -43,7 +43,7 @@
 
 namespace g2o {
 
-  struct CacheContainer;
+  class CacheContainer;
   /**
    * \brief Abstract action that operates on an entire graph
    */

diff --git a/g2o/types/data/vertex_ellipse.cpp b/g2o/types/data/vertex_ellipse.cpp
@@ -93,7 +93,7 @@ namespace g2o {
        << _covariance(1,1) << " " << _covariance(1,2) << " " << _covariance(2,2) << " ";
 
     os << _matchingVertices.size() << " " ;
-    for (int i=0 ; i< _matchingVertices.size(); i++){
+    for (size_t i=0 ; i< _matchingVertices.size(); i++){
       os << _matchingVertices[i].x() << " " << _matchingVertices[i].y() << " ";
     }
 
@@ -135,8 +135,8 @@ namespace g2o {
     glPushMatrix();
 
     float sigmaTheta = sqrt(that->covariance()(2,2));
-    float x = 0.1*cos(sigmaTheta);
-    float y = 0.1*sin(sigmaTheta);
+    float x = 0.1f*cosf(sigmaTheta);
+    float y = 0.1f*sinf(sigmaTheta);
 
     glColor3f(1.f,0.7f,1.f);
     glBegin(GL_LINE_STRIP);
@@ -146,7 +146,7 @@ namespace g2o {
     glEnd();
 
     glColor3f(0.f,1.f,0.f);
-    for (int i=0; i< that->matchingVertices().size(); i++){
+    for (size_t i=0; i< that->matchingVertices().size(); i++){
       glBegin(GL_LINES);
       glVertex3f(0,0,0);
       glVertex3f(that->matchingVertices()[i].x(),that->matchingVertices()[i].y(),0);

diff --git a/g2o/types/slam2d/edge_se2.cpp b/g2o/types/slam2d/edge_se2.cpp
@@ -165,9 +165,9 @@ namespace g2o {
       fromTransform = to->estimate()*e->measurement().inverse();
       // DRAW THE FROM EDGE AS AN ARROW
       glPushMatrix();
-      glTranslatef(fromTransform.translation().x(),fromTransform.translation().y(),0.f);
+      glTranslatef((float)fromTransform.translation().x(), (float)fromTransform.translation().y(),0.f);
       glRotatef((float)RAD2DEG(fromTransform.rotation().angle()),0.f,0.f,1.f);
-      opengl::drawArrow2D(_triangleX->value(), _triangleY->value(), _triangleX->value()*.3);
+      opengl::drawArrow2D((float)_triangleX->value(), (float)_triangleY->value(), (float)_triangleX->value()*.3f);
       glPopMatrix();
     } else if (! to){
       glColor3f(POSE_EDGE_GHOST_COLOR);
@@ -177,7 +177,7 @@ namespace g2o {
       glPushMatrix();
       glTranslatef(toTransform.translation().x(),toTransform.translation().y(),0.f);
       glRotatef((float)RAD2DEG(toTransform.rotation().angle()),0.f,0.f,1.f);
-      opengl::drawArrow2D(_triangleX->value(), _triangleY->value(), _triangleX->value()*.3);
+      opengl::drawArrow2D((float)_triangleX->value(), (float)_triangleY->value(), (float)_triangleX->value()*.3f);
       glPopMatrix();
     } else {
       glColor3f(POSE_EDGE_COLOR);

diff --git a/g2o/types/slam2d/edge_se2_lotsofxy.cpp b/g2o/types/slam2d/edge_se2_lotsofxy.cpp
@@ -125,10 +125,14 @@ namespace g2o{
 
     VertexSE2 * pose = static_cast<VertexSE2 *>(_vertices[0]);
 
+#ifdef _MSC_VER
+	std::vector<bool> estimate_this(_observedPoints, true);
+#else
     bool estimate_this[_observedPoints];
     for(unsigned int i=0; i<_observedPoints; i++){
       estimate_this[i] = true;
     }
+#endif
 
     for(std::set<HyperGraph::Vertex*>::iterator it=fixed.begin(); it!=fixed.end(); it++){
       for(unsigned int i=1; i<_vertices.size(); i++){

diff --git a/g2o/types/slam2d/vertex_se2.cpp b/g2o/types/slam2d/vertex_se2.cpp
@@ -109,7 +109,7 @@ namespace g2o {
     glPushMatrix();
     glTranslatef((float)that->estimate().translation().x(),(float)that->estimate().translation().y(),0.f);
     glRotatef((float)RAD2DEG(that->estimate().rotation().angle()),0.f,0.f,1.f);
-    opengl::drawArrow2D(_triangleX->value(), _triangleY->value(), _triangleX->value()*.3);
+    opengl::drawArrow2D((float)_triangleX->value(), (float)_triangleY->value(), (float)_triangleX->value()*.3f);
     drawCache(that->cacheContainer(), params_);
     drawUserData(that->userData(), params_);
     glPopMatrix();

diff --git a/g2o/types/slam3d/edge_se3_lotsofxyz.cpp b/g2o/types/slam3d/edge_se3_lotsofxyz.cpp
@@ -139,10 +139,14 @@ namespace g2o{
 
     VertexSE3 * pose = static_cast<VertexSE3 *>(_vertices[0]);
 
+#ifdef _MSC_VER
+	std::vector<bool> estimate_this(_observedPoints, true);
+#else
     bool estimate_this[_observedPoints];
     for(unsigned int i=0; i<_observedPoints; i++){
       estimate_this[i] = true;
     }
+#endif
 
     for(std::set<HyperGraph::Vertex*>::iterator it=fixed.begin(); it!=fixed.end(); it++){
       for(unsigned int i=1; i<_vertices.size(); i++){

diff --git a/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp b/g2o/types/slam3d_addons/edge_se3_plane_calib.cpp
@@ -2,11 +2,7 @@
 #include "edge_se3_plane_calib.h"
 
 #ifdef G2O_HAVE_OPENGL
-#ifdef __APPLE__
-#include <OpenGL/gl.h>
-#else
-#include <GL/gl.h>
-#endif
+#include "g2o/stuff/opengl_wrapper.h"
 #endif
 
 namespace g2o