fixed Windows build and some warnings

introlab · Apr 29, 2015 · d09e8f2 · d09e8f2
1 parent 24e79ad
commit d09e8f2
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
@@ -1880,7 +1880,7 @@ Transform Memory::computeVisualTransform(
  }
  if(inliers)
  {
- *inliers = inliers3D.size();
+ *inliers = (int)inliers3D.size();
  }
 
  if(!cameraTransform.isNull())

diff --git a/corelib/src/Rtabmap.cpp b/corelib/src/Rtabmap.cpp
@@ -1349,7 +1349,7 @@ bool Rtabmap::process(const SensorData & data)
  {
  nearNodesByDist.insert(std::make_pair(iter->second, iter->first));
  }
- for(std::map<float, int>::iterator iter=nearNodesByDist.begin();
+ for(std::multimap<float, int>::iterator iter=nearNodesByDist.begin();
  iter!=nearNodesByDist.end() && retrievalLocalIds.size() < _maxLocalRetrieved;
  ++iter)
  {
@@ -1389,7 +1389,7 @@ bool Rtabmap::process(const SensorData & data)
  // only a loop closure link is added...
  signaturesRetrieved = _memory->reactivateSignatures(
  reactivatedIds,
- _maxRetrieved+retrievalLocalIds.size(), // add path retrieved
+ _maxRetrieved+(unsigned int)retrievalLocalIds.size(), // add path retrieved
  timeRetrievalDbAccess);
 
  ULOGGER_INFO("retrieval of %d (db time = %fs)", (int)signaturesRetrieved.size(), timeRetrievalDbAccess);
@@ -1535,7 +1535,7 @@ bool Rtabmap::process(const SensorData & data)
  _localDetectMaxDiffID);
 
  std::list<std::map<int, Transform> > forwardPaths = getPaths(forwardPoses);
- localSpacePaths = forwardPaths.size();
+ localSpacePaths = (int)forwardPaths.size();
 
  for(std::list<std::map<int, Transform> >::iterator iter=forwardPaths.begin(); iter!=forwardPaths.end(); ++iter)
  {