DuongTD/laser_geometry
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Fix Windows warnings

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This commit is contained in:
Martin Idel
2018-03-14 16:47:52 +01:00
parent 48e676ff7f
commit c985f5defc
2 changed files with 69 additions and 64 deletions
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49
src/laser_geometry.cpp
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@@ -82,7 +82,7 @@ void LaserProjection::projectLaser_(
// Set the output cloud accordingly
cloud_out.header = scan_in.header;
cloud_out.height = 1;
cloud_out.width = scan_in.ranges.size();
cloud_out.width = static_cast<uint32_t>(scan_in.ranges.size());
cloud_out.fields.resize(3);
cloud_out.fields[0].name = "x";
cloud_out.fields[0].offset = 0;
@@ -102,53 +102,53 @@ void LaserProjection::projectLaser_(
idx_vpy = -1, idx_vpz = -1;
// now, we need to check what fields we need to store
int offset = 12;
uint32_t offset = 12;
if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) {
int field_size = cloud_out.fields.size();
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "intensity";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
idx_intensity = field_size;
idx_intensity = static_cast<int>(field_size);
}
if ((channel_options & channel_option::Index)) {
int field_size = cloud_out.fields.size();
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "index";
cloud_out.fields[field_size].datatype = POINT_FIELD::INT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
idx_index = field_size;
idx_index = static_cast<int>(field_size);
}
if ((channel_options & channel_option::Distance)) {
int field_size = cloud_out.fields.size();
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "distances";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
idx_distance = field_size;
idx_distance = static_cast<int>(field_size);
}
if ((channel_options & channel_option::Timestamp)) {
int field_size = cloud_out.fields.size();
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 1);
cloud_out.fields[field_size].name = "stamps";
cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
cloud_out.fields[field_size].offset = offset;
cloud_out.fields[field_size].count = 1;
offset += 4;
idx_timestamp = field_size;
idx_timestamp = static_cast<int>(field_size);
}
if ((channel_options & channel_option::Viewpoint)) {
int field_size = cloud_out.fields.size();
size_t field_size = cloud_out.fields.size();
cloud_out.fields.resize(field_size + 3);
cloud_out.fields[field_size].name = "vp_x";
@@ -169,9 +169,9 @@ void LaserProjection::projectLaser_(
cloud_out.fields[field_size + 2].count = 1;
offset += 4;
idx_vpx = field_size;
idx_vpy = field_size + 1;
idx_vpz = field_size + 2;
idx_vpx = static_cast<int>(field_size);
idx_vpy = static_cast<int>(field_size + 1);
idx_vpz = static_cast<int>(field_size + 2);
}
cloud_out.point_step = offset;
@@ -191,8 +191,8 @@ void LaserProjection::projectLaser_(
auto pstep = reinterpret_cast<float *>(&cloud_out.data[count * cloud_out.point_step]);
// Copy XYZ
pstep[0] = output(i, 0);
pstep[1] = output(i, 1);
pstep[0] = static_cast<float>(output(i, 0));
pstep[1] = static_cast<float>(output(i, 1));
pstep[2] = 0;
// Copy intensity
@@ -202,7 +202,7 @@ void LaserProjection::projectLaser_(
// Copy index
if (idx_index != -1) {
reinterpret_cast<int *>(pstep)[idx_index] = i;
reinterpret_cast<int *>(pstep)[idx_index] = static_cast<int>(i);
}
// Copy distance
@@ -345,9 +345,9 @@ void LaserProjection::transformLaserScanToPointCloud_(
tf2::Vector3 point_out = cur_transform * point_in;
// Copy transformed point into cloud
pstep[0] = point_out.x();
pstep[1] = point_out.y();
pstep[2] = point_out.z();
pstep[0] = static_cast<float>(point_out.x());
pstep[1] = static_cast<float>(point_out.y());
pstep[2] = static_cast<float>(point_out.z());
// Convert the viewpoint as well
if (has_viewpoint) {
@@ -357,9 +357,9 @@ void LaserProjection::transformLaserScanToPointCloud_(
point_out = cur_transform * point_in;
// Copy transformed point into cloud
vpstep[0] = point_out.x();
vpstep[1] = point_out.y();
vpstep[2] = point_out.z();
vpstep[0] = static_cast<float>(point_out.x());
vpstep[1] = static_cast<float>(point_out.y());
vpstep[2] = static_cast<float>(point_out.z());
}
}
@@ -426,7 +426,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
TIME end_time = scan_in.header.stamp;
// TODO(anonymous): reconcile all the different time constructs
if (!scan_in.ranges.empty()) {
end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
end_time = end_time + rclcpp::Duration(
static_cast<int>((scan_in.ranges.size() - 1) * scan_in.time_increment), 0);
}
std::chrono::nanoseconds start(start_time.nanoseconds());