Fix warnings

src/ground_removal/depth_ground_remover.cpp

@@ -24,24 +24,23 @@
 
 #include <algorithm>
 
-#include "utils/velodyne_utils.h"
-#include "image_labelers/linear_image_labeler.h"
 #include "image_labelers/diff_helpers/angle_diff.h"
 #include "image_labelers/diff_helpers/simple_diff.h"
+#include "image_labelers/linear_image_labeler.h"
 #include "utils/timer.h"
+#include "utils/velodyne_utils.h"
 
 namespace depth_clustering {
 
-using cv::Mat;
 using cv::DataType;
+using cv::Mat;
 using std::to_string;
 using time_utils::Timer;
 
 const cv::Point ANCHOR_CENTER = cv::Point(-1, -1);
 const int SAME_OUTPUT_TYPE = -1;
 
-void DepthGroundRemover::OnNewObjectReceived(const Cloud& cloud,
-                                             const int sender_id) {
+void DepthGroundRemover::OnNewObjectReceived(const Cloud& cloud, const int) {
   // this can be done even faster if we switch to column-major implementation
   // thus allowing us to load whole row in L1 cache
   if (!cloud.projection_ptr()) {

src/qt/widgets/base_viewer_widget.cpp

@@ -24,7 +24,7 @@
 
 BaseViewerWidget::BaseViewerWidget(QWidget *parent) : QWidget(parent) {}
 
-bool BaseViewerWidget::eventFilter(QObject *object, QEvent *event) {
+bool BaseViewerWidget::eventFilter(QObject *, QEvent *event) {
   if (event->type() == QEvent::KeyPress) {
     QKeyEvent *keyEvent = static_cast<QKeyEvent *>(event);
     if (keyEvent->key() == Qt::Key_Right || keyEvent->key() == Qt::Key_Left) {

src/visualization/cloud_saver.cpp

@@ -25,7 +25,7 @@
 namespace depth_clustering {
 
 void VectorCloudSaver::OnNewObjectReceived(
-    const std::unordered_map<uint16_t, Cloud>& clouds, const int id) {
+    const std::unordered_map<uint16_t, Cloud>& clouds, const int) {
   if (_folder_counter++ % _save_every > 0) {
     // nope, skip this one
     return;
@@ -53,7 +53,7 @@ std::string VectorCloudSaver::WithLeadingZerosStr(int num) {
 }
 
 void DepthMapSaver::OnNewObjectReceived(
-    const std::unordered_map<uint16_t, cv::Mat>& clusters, const int id) {
+    const std::unordered_map<uint16_t, cv::Mat>& clusters, const int) {
   if (_folder_counter++ % _save_every > 0) {
     // nope, skip this one
     return;
@@ -79,7 +79,7 @@ std::string DepthMapSaver::WithLeadingZerosStr(int num) {
       .append(counter_str);
 }
 
-void CloudSaver::OnNewObjectReceived(const Cloud& cloud, const int id) {
+void CloudSaver::OnNewObjectReceived(const Cloud& cloud, const int) {
   pcl::io::savePCDFileBinary(
       _prefix + "_" + std::to_string(_counter++) + ".pcd", *(cloud.ToPcl()));
 }

src/visualization/visualizer.cpp

@@ -148,7 +148,7 @@ void Visualizer::DrawCube(const Eigen::Vector3f& center,
 
 Visualizer::~Visualizer() {}
 
-void Visualizer::OnNewObjectReceived(const Cloud& cloud, const int id) {
+void Visualizer::OnNewObjectReceived(const Cloud& cloud, const int) {
   lock_guard<mutex> guard(_cloud_mutex);
   _cloud = cloud;
 }
@@ -161,7 +161,7 @@ unordered_map<uint16_t, Cloud> ObjectPtrStorer::object_clouds() const {
 }
 
 void ObjectPtrStorer::OnNewObjectReceived(
-    const unordered_map<uint16_t, Cloud>& clouds, const int id) {
+    const unordered_map<uint16_t, Cloud>& clouds, const int) {
   lock_guard<mutex> guard(_cluster_mutex);
   _obj_clouds = clouds;
 

test/test_angle_diff.cpp

@@ -51,7 +51,7 @@ TEST(AngleDiff, AlphasRows) {
                  SpanParams::Direction::HORIZONTAL);
   TestAngleDiff angle_diff_helper(&depth_image, &params);
   auto alphas_rows = angle_diff_helper.GetRowAlphas();
-  EXPECT_EQ(4, alphas_rows.size());
+  EXPECT_EQ(4ul, alphas_rows.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[2], 0.001);
@@ -68,7 +68,7 @@ TEST(AngleDiff, AlphasCols) {
                  SpanParams::Direction::HORIZONTAL);
   TestAngleDiff angle_diff_helper(&depth_image, &params);
   auto alphas_cols = angle_diff_helper.GetColAlphas();
-  EXPECT_EQ(4, alphas_cols.size());
+  EXPECT_EQ(4ul, alphas_cols.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[2], 0.001);

test/test_cloud.cpp

@@ -40,7 +40,7 @@ TEST(CloudTest, InitEmpty) {
   EXPECT_NEAR(0.0, cloud.pose().x(), eps);
   EXPECT_NEAR(0.0, cloud.pose().y(), eps);
   EXPECT_NEAR(0.0, cloud.pose().theta(), eps);
-  EXPECT_EQ(0, cloud.size());
+  EXPECT_EQ(0ul, cloud.size());
 }
 
 TEST(CloudTest, InitPose) {

test/test_line_dist_diff.cpp

@@ -51,7 +51,7 @@ TEST(LineDistDiff, AlphasRows) {
                  SpanParams::Direction::HORIZONTAL);
   TestLineDistDiff angle_diff_helper(&depth_image, &params);
   auto alphas_rows = angle_diff_helper.GetRowAlphas();
-  EXPECT_EQ(4, alphas_rows.size());
+  EXPECT_EQ(4ul, alphas_rows.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_rows[2], 0.001);
@@ -68,7 +68,7 @@ TEST(LineDistDiff, AlphasCols) {
                  SpanParams::Direction::HORIZONTAL);
   TestLineDistDiff angle_diff_helper(&depth_image, &params);
   auto alphas_cols = angle_diff_helper.GetColAlphas();
-  EXPECT_EQ(4, alphas_cols.size());
+  EXPECT_EQ(4ul, alphas_cols.size());
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[0], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[1], 0.001);
   EXPECT_NEAR(Radians::FromDegrees(1).val(), alphas_cols[2], 0.001);

test/test_pose.cpp

@@ -291,7 +291,6 @@ TEST(PoseTest, V2T2V) {
 // More: http://en.cppreference.com/w/cpp/error/assert
 #ifndef NDEBUG
 TEST(PoseDeathTest, TestLikelihood) {
-  double eps = 0.000001;
   Pose pose;
   ASSERT_DEATH(pose.SetLikelihood(2), "");
   ASSERT_DEATH(pose.SetLikelihood(-1), "");

test/test_sender_client.cpp

@@ -47,7 +47,7 @@ class TestClient : public AbstractClient<int> {
       : AbstractClient<int>(), _object_received(false), _sender_id(-1) {}
   virtual ~TestClient() {}
 
-  void OnNewObjectReceived(const int& object, const int sender_id) override {
+  void OnNewObjectReceived(const int&, const int sender_id) override {
     _object_received = true;
     _sender_id = sender_id;
   }
@@ -62,7 +62,7 @@ class TestTemplateClient : public AbstractClient<T> {
   TestTemplateClient() : AbstractClient<T>(), _object_received(false) {}
   virtual ~TestTemplateClient() {}
 
-  void OnNewObjectReceived(const T& object, const int sender_id) override {
+  void OnNewObjectReceived(const T&, const int) override {
     _object_received = true;
   }
 
@@ -100,16 +100,16 @@ TEST(SenderClientTest, SendAndReceive) {
   ASSERT_EQ(id + 3, client_simple_2.id());
   ASSERT_EQ(id + 4, client_templated.id());
 
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
   sender.AddClient(&client_simple_1);
-  ASSERT_EQ(1, sender.client_count());
+  ASSERT_EQ(1ul, sender.client_count());
   sender.AddClient(&client_simple_2);
-  ASSERT_EQ(2, sender.client_count());
+  ASSERT_EQ(2ul, sender.client_count());
   sender.AddClient(&client_templated);
-  ASSERT_EQ(3, sender.client_count());
+  ASSERT_EQ(3ul, sender.client_count());
 
   sender.RemoveClient(client_simple_2.id());
-  ASSERT_EQ(2, sender.client_count());
+  ASSERT_EQ(2ul, sender.client_count());
   int package = 42;
   ASSERT_EQ(false, client_simple_1._object_received);
   ASSERT_EQ(false, client_simple_2._object_received);
@@ -126,7 +126,7 @@ TEST(SenderClientTest, SendAndReceive) {
 
 TEST(SenderClientTest, RemoveNonExistingId) {
   TestSender sender;
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
   sender.RemoveClient(42);
-  ASSERT_EQ(0, sender.client_count());
+  ASSERT_EQ(0ul, sender.client_count());
 }