Enabled and then cleaned up warnings

3 files changed, 7 insertions, 90 deletions

diff --git a/redist/sba/sba_crsm.c b/redist/sba/sba_crsm.c
index 9ba11f1..ea38042 100644
--- a/redist/sba/sba_crsm.c
+++ b/redist/sba/sba_crsm.c
@@ -22,9 +22,6 @@
 
 #include "sba.h"
 
-static void sba_crsm_print(struct sba_crsm *sm, FILE *fp);
-static void sba_crsm_build(struct sba_crsm *sm, int *m, int nr, int nc);
-
 /* allocate a sparse CRS matrix */
 void sba_crsm_alloc(struct sba_crsm *sm, int nr, int nc, int nnz) {
 	int msz;
@@ -50,46 +47,6 @@ void sba_crsm_free(struct sba_crsm *sm) {
 	sm->val = sm->colidx = sm->rowptr = NULL;
 }
 
-static void sba_crsm_print(struct sba_crsm *sm, FILE *fp) {
-	register int i;
-
-	fprintf(fp, "matrix is %dx%d, %d non-zeros\nval: ", sm->nr, sm->nc, sm->nnz);
-	for (i = 0; i < sm->nnz; ++i)
-		fprintf(fp, "%d ", sm->val[i]);
-	fprintf(fp, "\ncolidx: ");
-	for (i = 0; i < sm->nnz; ++i)
-		fprintf(fp, "%d ", sm->colidx[i]);
-	fprintf(fp, "\nrowptr: ");
-	for (i = 0; i <= sm->nr; ++i)
-		fprintf(fp, "%d ", sm->rowptr[i]);
-	fprintf(fp, "\n");
-}
-
-/* build a sparse CRS matrix from a dense one. intended to serve as an example for sm creation */
-static void sba_crsm_build(struct sba_crsm *sm, int *m, int nr, int nc) {
-	int nnz;
-	register int i, j, k;
-
-	/* count nonzeros */
-	for (i = nnz = 0; i < nr; ++i)
-		for (j = 0; j < nc; ++j)
-			if (m[i * nc + j] != 0)
-				++nnz;
-
-	sba_crsm_alloc(sm, nr, nc, nnz);
-
-	/* fill up the sm structure */
-	for (i = k = 0; i < nr; ++i) {
-		sm->rowptr[i] = k;
-		for (j = 0; j < nc; ++j)
-			if (m[i * nc + j] != 0) {
-				sm->val[k] = m[i * nc + j];
-				sm->colidx[k++] = j;
-			}
-	}
-	sm->rowptr[nr] = nnz;
-}
-
 /* returns the index of the (i, j) element. No bounds checking! */
 int sba_crsm_elmidx(struct sba_crsm *sm, int i, int j) {
 	register int low, high, mid, diff;
diff --git a/redist/sba/sba_levmar.c b/redist/sba/sba_levmar.c
index 2f85f2a..e5c499f 100644
--- a/redist/sba/sba_levmar.c
+++ b/redist/sba/sba_levmar.c
@@ -99,46 +99,6 @@ static double sba_mean_repr_error(int n, int mnp, double *x, double *hx, struct
 	return err / ((double)(nprojs));
 }
 
-/* print the solution in p using sba's text format. If cnp/pnp==0 only points/cameras are printed */
-static void sba_print_sol(int n, int m, double *p, int cnp, int pnp, double *x, int mnp, struct sba_crsm *idxij,
-						  int *rcidxs, int *rcsubs) {
-	register int i, j, ii;
-	int nnz;
-	double *ptr;
-
-	if (cnp) {
-		/* print camera parameters */
-		for (j = 0; j < m; ++j) {
-			ptr = p + cnp * j;
-			for (ii = 0; ii < cnp; ++ii)
-				printf("%g ", ptr[ii]);
-			printf("\n");
-		}
-	}
-
-	if (pnp) {
-		/* 3D & 2D point parameters */
-		printf("\n\n\n# X Y Z  nframes  frame0 x0 y0  frame1 x1 y1 ...\n");
-		for (i = 0; i < n; ++i) {
-			ptr = p + cnp * m + i * pnp;
-			for (ii = 0; ii < pnp; ++ii) // print 3D coordinates
-				printf("%g ", ptr[ii]);
-
-			nnz = sba_crsm_row_elmidxs(idxij, i, rcidxs, rcsubs); /* find nonzero x_ij, j=0...m-1 */
-			printf("%d ", nnz);
-
-			for (j = 0; j < nnz; ++j) { /* point i projecting on camera rcsubs[j] */
-				ptr = x + idxij->val[rcidxs[j]] * mnp;
-
-				printf("%d ", rcsubs[j]);
-				for (ii = 0; ii < mnp; ++ii) // print 2D coordinates
-					printf("%g ", ptr[ii]);
-			}
-			printf("\n");
-		}
-	}
-}
-
 /* Compute e=x-y for two n-vectors x and y and return the squared L2 norm of e.
  * e can coincide with either x or y.
  * Uses loop unrolling and blocking to reduce bookkeeping overhead & pipeline
@@ -623,7 +583,7 @@ int sba_motstr_levmar_x(
 	 * measurements vector x
 	 */
 
-	double *pa, *pb, *ea, *eb, *dpa, *dpb; /* pointers into p, jac, eab and dp respectively */
+	double *ea, *eb, *dpa, *dpb; /* pointers into p, jac, eab and dp respectively */
 
 	/* submatrices sizes */
 	int Asz, Bsz, ABsz, Usz, Vsz, Wsz, Ysz, esz, easz, ebsz, YWtsz, Wtdasz, Sblsz, covsz;
@@ -793,8 +753,8 @@ int sba_motstr_levmar_x(
 	jac = W + Wsz + ((Wsz > ABsz) ? nvis * (Wsz - ABsz) : 0);
 
 	/* set up auxiliary pointers */
-	pa = p;
-	pb = p + m * cnp;
+	// pa = p;
+	// pb = p + m * cnp;
 	ea = eab;
 	eb = eab + m * cnp;
 	dpa = dp;
diff --git a/redist/sba/sba_levmar_wrap.c b/redist/sba/sba_levmar_wrap.c
index 159a040..50948ea 100644
--- a/redist/sba/sba_levmar_wrap.c
+++ b/redist/sba/sba_levmar_wrap.c
@@ -73,7 +73,7 @@ static void sba_motstr_Qs(double *p, struct sba_crsm *idxij, int *rcidxs, int *r
 	register int i, j;
 	int cnp, pnp, mnp;
 	double *pa, *pb, *paj, *pbi, *pxij;
-	int n, m, nnz;
+	int m, nnz;
 	struct wrap_motstr_data_ *wdata;
 	void (*proj)(int j, int i, double *aj, double *bi, double *xij, void *proj_adata);
 	void *proj_adata;
@@ -85,7 +85,7 @@ static void sba_motstr_Qs(double *p, struct sba_crsm *idxij, int *rcidxs, int *r
 	proj = wdata->proj;
 	proj_adata = wdata->adata;
 
-	n = idxij->nr;
+	// n = idxij->nr;
 	m = idxij->nc;
 	pa = p;
 	pb = p + m * cnp;
@@ -117,7 +117,7 @@ static void sba_motstr_Qs_jac(double *p, struct sba_crsm *idxij, int *rcidxs, in
 	register int i, j;
 	int cnp, pnp, mnp;
 	double *pa, *pb, *paj, *pbi, *pAij, *pBij;
-	int n, m, nnz, Asz, Bsz, ABsz, idx;
+	int m, nnz, Asz, Bsz, ABsz, idx;
 	struct wrap_motstr_data_ *wdata;
 	void (*projac)(int j, int i, double *aj, double *bi, double *Aij, double *Bij, void *projac_adata);
 	void *projac_adata;
@@ -129,7 +129,7 @@ static void sba_motstr_Qs_jac(double *p, struct sba_crsm *idxij, int *rcidxs, in
 	projac = wdata->projac;
 	projac_adata = wdata->adata;
 
-	n = idxij->nr;
+	// n = idxij->nr;
 	m = idxij->nc;
 	pa = p;
 	pb = p + m * cnp;