Removed some compilation warnings from people module.

Author: mmunaro

people/include/pcl/people/hog.h

@@ -41,6 +41,9 @@
 #ifndef PCL_PEOPLE_HOG_H_
 #define PCL_PEOPLE_HOG_H_
 
+#include <math.h>
+#include <string.h>
+
 #if defined(__SSE2__)
 #include <pcl/common/impl/sse.hpp>
 #else

people/include/pcl/people/impl/ground_based_people_detection_app.hpp

@@ -323,7 +323,7 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::compute (std::vector<pcl::pe
     top /= top(2);
     Eigen::Vector3f bottom = intrinsics_matrix_ * (it->getTBottom());
     bottom /= bottom(2);
-    it->setPersonConfidence(person_classifier_.evaluate(rgb_image_, bottom, top, centroid, intrinsics_matrix_, vertical_));
+    it->setPersonConfidence(person_classifier_.evaluate(rgb_image_, bottom, top, centroid, vertical_));
   }
 
   return (true);

people/include/pcl/people/impl/person_classifier.hpp

@@ -199,9 +199,9 @@ pcl::people::PersonClassifier<PointT>::copyMakeBorder (PointCloudPtr& input_imag
   int y_end_in = std::min(int(input_image->height-1), ymin+height-1);
 
   int x_start_out = std::max(0, -xmin);
-  int x_end_out = x_start_out + (x_end_in - x_start_in);
+  //int x_end_out = x_start_out + (x_end_in - x_start_in);
   int y_start_out = std::max(0, -ymin);
-  int y_end_out = y_start_out + (y_end_in - y_start_in);
+  //int y_end_out = y_start_out + (y_end_in - y_start_in);
 
   for (unsigned int i = 0; i < (y_end_in - y_start_in + 1); i++)
   {
@@ -283,7 +283,6 @@ pcl::people::PersonClassifier<PointT>::evaluate (PointCloudPtr& image,
               Eigen::Vector3f& bottom,
               Eigen::Vector3f& top,
               Eigen::Vector3f& centroid,
-              Eigen::Matrix3f intrinsics_matrix,
               bool vertical)
 {
   float pixel_height;

people/include/pcl/people/person_classifier.h

@@ -154,13 +154,12 @@ namespace pcl
        * \param[in] bottom Theoretical bottom point of the cluster projected to the image.
        * \param[in] top Theoretical top point of the cluster projected to the image.
        * \param[in] centroid Theoretical centroid point of the cluster projected to the image.
-       * \param[in] intrinsics_matrix Image intrinsic parameters.
        * \param[in] vertical If true, the sensor is considered to be vertically placed (portrait mode).
        * \return The person confidence.
        */
       double
       evaluate (PointCloudPtr& image, Eigen::Vector3f& bottom, Eigen::Vector3f& top, Eigen::Vector3f& centroid,
-         Eigen::Matrix3f intrinsics_matrix, bool vertical);
+         bool vertical);
     };
   } /* namespace people */
 } /* namespace pcl */

people/src/hog.cpp

@@ -40,8 +40,6 @@
  */
 
 #include <pcl/people/hog.h>
-#include <math.h>
-#include <string.h>
 
 /** \brief Constructor. */
 pcl::people::HOG::HOG () 
@@ -169,6 +167,8 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
   O1=(int*)alMalloc(h*sizeof(int),16); M1=(float*) alMalloc(h*sizeof(float),16);
 
   // main loop
+  float xb = 0;
+  float init = 0;
   for( x=0; x<w0; x++ ) {
     // compute target orientation bins for entire column - very fast
     gradQuantize( O+x*h, M+x*h, O0, O1, M0, M1, n_orients, nb, h0, sInv2 );
@@ -187,7 +187,7 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
     } else {
       // interpolate using trilinear interpolation
 #if defined(__SSE2__)
-      float ms[4], xyd, xb, yb, xd, yd, init; __m128 _m, _m0, _m1;
+      float ms[4], xyd, yb, xd, yd; __m128 _m, _m0, _m1;
       bool hasLf, hasRt; int xb0, yb0;
       if( x==0 ) { init=(0+.5f)*sInv-0.5f; xb=init; }
       hasLf = xb>=0; xb0 = hasLf?(int)xb:-1; hasRt = xb0 < wb-1;
@@ -220,7 +220,7 @@ pcl::people::HOG::gradHist( float *M, float *O, int h, int w, int bin_size, int
       #undef GHinit
       #undef GH
 #else
-      float ms[4], xyd, xb, yb, xd, yd, init; 
+      float ms[4], xyd, yb, xd, yd;  
       bool hasLf, hasRt; int xb0, yb0;
       if( x==0 ) { init=(0+.5f)*sInv-0.5f; xb=init; }
       hasLf = xb>=0; xb0 = hasLf?(int)xb:-1; hasRt = xb0 < wb-1;
@@ -442,7 +442,7 @@ pcl::people::HOG::gradQuantize (float *O, float *M, int *O0, int *O1, float *M0,
   }
 
   // compute trailing locations without sse
-  for( i; i<n; i++ ) {
+  for( ; i<n; i++ ) {
   o=O[i]*oMult; m=M[i]*norm; o0=(int) o; od=o-o0;
   o0*=nb; o1=o0+nb; if(o1==oMax) o1=0;
   O0[i]=o0; O1[i]=o1; M1[i]=od*m; M0[i]=m-M1[i];