Merge pull request #226 from smnogar/clang-fixes

Small Clang Fixes
rpng · Feb 10, 2022 · fe6e0e7 · fe6e0e7
2 parents 8170e57 + dfc9df5
commit fe6e0e7
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Showing 4 changed files with 7 additions and 5 deletions.
diff --git a/ov_msckf/CMakeLists.txt b/ov_msckf/CMakeLists.txt
@@ -30,7 +30,7 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
 
 # Enable debug flags (use if you want to debug in gdb)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -fno-omit-frame-pointer")
 
 # Find our ROS version!
 # NOTE: Default to using the ROS1 package if both are in our enviroment

diff --git a/ov_msckf/src/ros/ROS2Visualizer.cpp b/ov_msckf/src/ros/ROS2Visualizer.cpp
@@ -656,7 +656,9 @@ void ROS2Visualizer::publish_groundtruth() {
  Eigen::Matrix<double, 6, 6> covariance = StateHelper::get_marginal_covariance(_app->get_state(), statevars);
 
  // Calculate NEES values
- double ori_nees = 2 * quat_diff.block(0, 0, 3, 1).dot(covariance.block(0, 0, 3, 3).inverse() * 2 * quat_diff.block(0, 0, 3, 1));
+ Eigen::Vector3d quat_diff_vec = quat_diff.block(0, 0, 3, 1);
+ Eigen::Vector3d cov_vec = covariance.block(0, 0, 3, 3).inverse() * 2 * quat_diff.block(0, 0, 3, 1);
+ double ori_nees = 2 * quat_diff_vec.dot(cov_vec);
  Eigen::Vector3d errpos = state_ekf.block(4, 0, 3, 1) - state_gt.block(5, 0, 3, 1);
  double pos_nees = errpos.transpose() * covariance.block(3, 3, 3, 3).inverse() * errpos;
 

diff --git a/ov_msckf/src/update/UpdaterMSCKF.cpp b/ov_msckf/src/update/UpdaterMSCKF.cpp
@@ -32,7 +32,7 @@ void UpdaterMSCKF::update(std::shared_ptr<State> state, std::vector<std::shared_
  return;
 
  // Start timing
- boost::posix_time::ptime rT0, rT1, rT2, rT3, rT4, rT5, rT6, rT7;
+ boost::posix_time::ptime rT0, rT1, rT2, rT3, rT4, rT5;
  rT0 = boost::posix_time::microsec_clock::local_time();
 
  // 0. Get all timestamps our clones are at (and thus valid measurement times)

diff --git a/ov_msckf/src/update/UpdaterSLAM.cpp b/ov_msckf/src/update/UpdaterSLAM.cpp
@@ -32,7 +32,7 @@ void UpdaterSLAM::delayed_init(std::shared_ptr<State> state, std::vector<std::sh
  return;
 
  // Start timing
- boost::posix_time::ptime rT0, rT1, rT2, rT3, rT4, rT5, rT6, rT7;
+ boost::posix_time::ptime rT0, rT1, rT2, rT3;
  rT0 = boost::posix_time::microsec_clock::local_time();
 
  // 0. Get all timestamps our clones are at (and thus valid measurement times)
@@ -224,7 +224,7 @@ void UpdaterSLAM::update(std::shared_ptr<State> state, std::vector<std::shared_p
  return;
 
  // Start timing
- boost::posix_time::ptime rT0, rT1, rT2, rT3, rT4, rT5, rT6, rT7;
+ boost::posix_time::ptime rT0, rT1, rT2, rT3;
  rT0 = boost::posix_time::microsec_clock::local_time();
 
  // 0. Get all timestamps our clones are at (and thus valid measurement times)