Enabled and then cleaned up warnings

7 files changed, 14 insertions, 103 deletions

diff --git a/redist/CNFGXDriver.c b/redist/CNFGXDriver.c
index 91b7233..6037eff 100644
--- a/redist/CNFGXDriver.c
+++ b/redist/CNFGXDriver.c
@@ -215,10 +215,10 @@ void CNFGHandleInput()
 	XEvent report;
 
 	int bKeyDirection = 1;
-	int r;
+
 	while( XPending( CNFGDisplay ) )
 	{
-		r=XNextEvent( CNFGDisplay, &report );
+		XNextEvent(CNFGDisplay, &report);
 
 		bKeyDirection = 1;
 		switch  (report.type)
@@ -264,7 +264,7 @@ void CNFGUpdateScreenWithBitmap( unsigned long * data, int w, int h )
 	static int depth;
 	static int lw, lh;
 	static unsigned char * lbuffer;
-	int r, ls;
+	int r;
 
 	if( !xi )
 	{
@@ -283,8 +283,6 @@ void CNFGUpdateScreenWithBitmap( unsigned long * data, int w, int h )
 		lh = h;
 	}
 
-	ls = lw * lh;
-
 	XPutImage(CNFGDisplay, CNFGWindow, CNFGWindowGC, xi, 0, 0, 0, 0, w, h );
 }
 
diff --git a/redist/json_helpers.c b/redist/json_helpers.c
index ebacd2c..0741c84 100644
--- a/redist/json_helpers.c
+++ b/redist/json_helpers.c
@@ -120,8 +120,9 @@ char* load_file_to_mem(const char* path) {
 	int len = ftell( f );
 	fseek( f, 0, SEEK_SET );
 	char * JSON_STRING = malloc( len + 1);
-	memset(JSON_STRING,0,len+1); 
-	size_t i = fread( JSON_STRING, len, 1, f ); i = i; //Ignore return value.
+	memset(JSON_STRING,0,len+1);
+	size_t i = fread(JSON_STRING, len, 1, f);
+	(void)i; // Ignore return value.
 	fclose( f );
 	return JSON_STRING;
 }
diff --git a/redist/linmath.h b/redist/linmath.h
index 78cac5c..aff46a3 100644
--- a/redist/linmath.h
+++ b/redist/linmath.h
@@ -14,7 +14,7 @@ extern "C" {
 #endif
 
 // Yes, I know it's kind of arbitrary.
-#define DEFAULT_EPSILON 0.001
+#define DEFAULT_EPSILON 0.0000000001
 
 // For printf
 #define PFTHREE(x) (x)[0], (x)[1], (x)[2]
diff --git a/redist/minimal_opencv.c b/redist/minimal_opencv.c
index 988dd0f..d569d96 100644
--- a/redist/minimal_opencv.c
+++ b/redist/minimal_opencv.c
@@ -116,11 +116,6 @@ static inline void *cvAlignPtr(const void *ptr, int align) {
 	return (void *)(((size_t)ptr + align - 1) & ~(size_t)(align - 1));
 }
 
-static inline int cvAlign(int size, int align) {
-	CV_DbgAssert((align & (align - 1)) == 0 && size < INT_MAX);
-	return (size + align - 1) & -align;
-}
-
 SURVIVE_LOCAL_ONLY void cvCreateData(CvMat *arr) {
 	if (CV_IS_MAT_HDR_Z(arr)) {
 		size_t step, total_size;
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;