Merge pull request #309 from christian-rauch/fix_warnings

fix warnings

.github/workflows/industrial_ci_action.yml

@@ -12,8 +12,6 @@ jobs:
       matrix:
         env:
           # ROS 1
-          - {ROS_DISTRO: kinetic}
-          - {ROS_DISTRO: melodic}
           - {ROS_DISTRO: noetic}
           # ROS 2
           - {ROS_DISTRO: humble}

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.1)
+cmake_minimum_required(VERSION 3.16)
 project(apriltag VERSION 3.3.0 LANGUAGES C CXX)
 
 if(POLICY CMP0077)
@@ -39,6 +39,15 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS  "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
+if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Werror)
+    # add_compile_options(-Wpedantic)
+    add_compile_options(-Wno-shift-negative-value)
+    if(NOT CMAKE_C_COMPILER_ID MATCHES "AppleClang")
+        add_link_options("-Wl,-z,relro,-z,now,-z,defs")
+    endif()
+endif()
+
 aux_source_directory(common COMMON_SRC)
 set(APRILTAG_SRCS apriltag.c apriltag_pose.c apriltag_quad_thresh.c)
 
@@ -50,7 +59,11 @@ if (MSVC)
     add_compile_definitions("_CRT_SECURE_NO_WARNINGS")
 else()
     find_package(Threads REQUIRED)
-    target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads m)
+    target_link_libraries(${PROJECT_NAME} PUBLIC Threads::Threads)
+endif()
+
+if (UNIX)
+    target_link_libraries(${PROJECT_NAME} PUBLIC m)
 endif()
 
 set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})

apriltag.c

@@ -231,7 +231,7 @@ static void quick_decode_init(apriltag_family_t *family, int maxhamming)
 
     errno = 0;
 
-    for (int i = 0; i < family->ncodes; i++) {
+    for (uint32_t i = 0; i < family->ncodes; i++) {
         uint64_t code = family->codes[i];
 
         // add exact code (hamming = 0)
@@ -624,7 +624,7 @@ static float quad_decode(apriltag_detector_t* td, apriltag_family_t *family, ima
     graymodel_init(&whitemodel);
     graymodel_init(&blackmodel);
 
-    for (int pattern_idx = 0; pattern_idx < sizeof(patterns)/(5*sizeof(float)); pattern_idx ++) {
+    for (long unsigned int pattern_idx = 0; pattern_idx < sizeof(patterns)/(5*sizeof(float)); pattern_idx ++) {
         float *pattern = &patterns[pattern_idx * 5];
 
         int is_white = pattern[4];
@@ -685,7 +685,7 @@ static float quad_decode(apriltag_detector_t* td, apriltag_family_t *family, ima
     double *values = calloc(family->total_width*family->total_width, sizeof(double));
 
     int min_coord = (family->width_at_border - family->total_width)/2;
-    for (int i = 0; i < family->nbits; i++) {
+    for (uint32_t i = 0; i < family->nbits; i++) {
         int bity = family->bit_y[i];
         int bitx = family->bit_x[i];
 
@@ -718,7 +718,7 @@ static float quad_decode(apriltag_detector_t* td, apriltag_family_t *family, ima
     sharpen(td, values, family->total_width);
 
     uint64_t rcode = 0;
-    for (int i = 0; i < family->nbits; i++) {
+    for (uint32_t i = 0; i < family->nbits; i++) {
         int bity = family->bit_y[i];
         int bitx = family->bit_x[i];
         rcode = (rcode << 1);
@@ -1341,8 +1341,7 @@ zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
                 int k = (j + 1) & 3;
                 image_u8x3_draw_line(out,
                                      det->p[j][0], det->p[j][1], det->p[k][0], det->p[k][1],
-                                     (uint8_t[]) { rgb[0], rgb[1], rgb[2] },
-                                     1);
+                                     (uint8_t[]) { rgb[0], rgb[1], rgb[2] });
             }
         }
 
@@ -1424,10 +1423,10 @@ void apriltag_detections_destroy(zarray_t *detections)
     zarray_destroy(detections);
 }
 
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx)
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx)
 {
     assert(fam != NULL);
-    assert(idx >= 0 && idx < fam->ncodes);
+    assert(idx < fam->ncodes);
 
     uint64_t code = fam->codes[idx];
 
@@ -1444,7 +1443,7 @@ image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx)
     }
 
     int border_start = (fam->total_width - fam->width_at_border)/2;
-    for (int i = 0; i < fam->nbits; i++) {
+    for (uint32_t i = 0; i < fam->nbits; i++) {
         if (code & (APRILTAG_U64_ONE << (fam->nbits - i - 1))) {
             im->buf[(fam->bit_y[i] + border_start)*im->stride + fam->bit_x[i] + border_start] = 255;
         }

apriltag.h

@@ -269,7 +269,7 @@ void apriltag_detections_destroy(zarray_t *detections);
 
 // Renders the apriltag.
 // Caller is responsible for calling image_u8_destroy on the image
-image_u8_t *apriltag_to_image(apriltag_family_t *fam, int idx);
+image_u8_t *apriltag_to_image(apriltag_family_t *fam, uint32_t idx);
 
 #ifdef __cplusplus
 }

apriltag_quad_thresh.c

@@ -502,7 +502,7 @@ int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_
 }
 
 // returns 0 if the cluster looks bad.
-int quad_segment_agg(apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4])
+int quad_segment_agg(zarray_t *cluster, struct line_fit_pt *lfps, int indices[4])
 {
     int sz = zarray_size(cluster);
 
@@ -893,7 +893,7 @@ int fit_quad(
         if (!quad_segment_maxima(td, cluster, lfps, indices))
             goto finish;
     } else {
-        if (!quad_segment_agg(td, cluster, lfps, indices))
+        if (!quad_segment_agg(cluster, lfps, indices))
             goto finish;
     }
 
@@ -1014,7 +1014,7 @@ int fit_quad(
 
 #define DO_UNIONFIND2(dx, dy) if (im->buf[(y + dy)*s + x + dx] == v) unionfind_connect(uf, y*w + x, (y + dy)*w + x + dx);
 
-static void do_unionfind_first_line(unionfind_t *uf, image_u8_t *im, int h, int w, int s)
+static void do_unionfind_first_line(unionfind_t *uf, image_u8_t *im, int w, int s)
 {
     int y = 0;
     uint8_t v;
@@ -1029,7 +1029,7 @@ static void do_unionfind_first_line(unionfind_t *uf, image_u8_t *im, int h, int
     }
 }
 
-static void do_unionfind_line2(unionfind_t *uf, image_u8_t *im, int h, int w, int s, int y)
+static void do_unionfind_line2(unionfind_t *uf, image_u8_t *im, int w, int s, int y)
 {
     assert(y > 0);
 
@@ -1075,7 +1075,7 @@ static void do_unionfind_task2(void *p)
     struct unionfind_task *task = (struct unionfind_task*) p;
 
     for (int y = task->y0; y < task->y1; y++) {
-        do_unionfind_line2(task->uf, task->im, task->h, task->w, task->s, y);
+        do_unionfind_line2(task->uf, task->im, task->w, task->s, y);
     }
 }
 
@@ -1532,12 +1532,12 @@ unionfind_t* connected_components(apriltag_detector_t *td, image_u8_t* threshim,
     unionfind_t *uf = unionfind_create(w * h);
 
     if (td->nthreads <= 1) {
-        do_unionfind_first_line(uf, threshim, h, w, ts);
+        do_unionfind_first_line(uf, threshim, w, ts);
         for (int y = 1; y < h; y++) {
-            do_unionfind_line2(uf, threshim, h, w, ts, y);
+            do_unionfind_line2(uf, threshim, w, ts, y);
         }
     } else {
-        do_unionfind_first_line(uf, threshim, h, w, ts);
+        do_unionfind_first_line(uf, threshim, w, ts);
 
         int sz = h;
         int chunksize = 1 + sz / (APRILTAG_TASKS_PER_THREAD_TARGET * td->nthreads);
@@ -1567,7 +1567,7 @@ unionfind_t* connected_components(apriltag_detector_t *td, image_u8_t* threshim,
 
         // XXX stitch together the different chunks.
         for (int i = 1; i < ntasks; i++) {
-            do_unionfind_line2(uf, threshim, h, w, ts, tasks[i].y0 - 1);
+            do_unionfind_line2(uf, threshim, w, ts, tasks[i].y0 - 1);
         }
 
         free(tasks);
@@ -1891,7 +1891,7 @@ zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im)
             for (int x = 0; x < w; x++) {
                 uint32_t v = unionfind_get_representative(uf, y*w+x);
 
-                if (unionfind_get_set_size(uf, v) < td->qtp.min_cluster_pixels)
+                if ((int)unionfind_get_set_size(uf, v) < td->qtp.min_cluster_pixels)
                     continue;
 
                 uint32_t color = colors[v];

common/getopt.c

@@ -176,7 +176,7 @@ int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors)
     }
 
     // now loop over the elements and evaluate the arguments
-    unsigned int i = 0;
+    int i = 0;
 
     char *tok = NULL;
 
@@ -499,7 +499,7 @@ char * getopt_get_usage(getopt_t *gopt)
     int longwidth=12;
     int valuewidth=10;
 
-    for (unsigned int i = 0; i < zarray_size(gopt->options); i++) {
+    for (int i = 0; i < zarray_size(gopt->options); i++) {
         getopt_option_t *goo = NULL;
         zarray_get(gopt->options, i, &goo);
 
@@ -512,7 +512,7 @@ char * getopt_get_usage(getopt_t *gopt)
             valuewidth = max(valuewidth, (int) strlen(goo->svalue));
     }
 
-    for (unsigned int i = 0; i < zarray_size(gopt->options); i++) {
+    for (int i = 0; i < zarray_size(gopt->options); i++) {
         getopt_option_t *goo = NULL;
         zarray_get(gopt->options, i, &goo);
 

common/homography.c

@@ -357,7 +357,7 @@ matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, dou
 // [ 0  0  C  D ]
 // [ 0  0 -1  0 ]
 
-matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B, double C, double D)
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B)
 {
     // Note that every variable that we compute is proportional to the scale factor of H.
     double R20 = -MATD_EL(H, 2, 0);

common/homography.h

@@ -176,7 +176,7 @@ matd_t *homography_to_pose(const matd_t *H, double fx, double fy, double cx, dou
 // [ 0  0  C  D ]
 // [ 0  0 -1  0 ]
 
-matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B, double C, double D);
+matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A, double B);
 
 #ifdef __cplusplus
 }

common/image_u8.c

@@ -211,7 +211,7 @@ int image_u8_write_pnm(const image_u8_t *im, const char *path)
     fprintf(f, "P5\n%d %d\n255\n", im->width, im->height);
 
     for (int y = 0; y < im->height; y++) {
-        if (im->width != fwrite(&im->buf[y*im->stride], 1, im->width, f)) {
+        if (im->width != (int32_t)fwrite(&im->buf[y*im->stride], 1, im->width, f)) {
             res = -2;
             goto finish;
         }

common/image_u8x3.c

@@ -147,7 +147,7 @@ int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path)
 
     // Only outputs to RGB
     fprintf(f, "P6\n%d %d\n255\n", im->width, im->height);
-    int linesz = im->width * 3;
+    size_t linesz = im->width * 3;
     for (int y = 0; y < im->height; y++) {
         if (linesz != fwrite(&im->buf[y*im->stride], 1, linesz, f)) {
             res = -1;
@@ -163,7 +163,7 @@ int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path)
 }
 
 // only width 1 supported
-void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3], int width)
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3])
 {
     double dist = sqrtf((y1-y0)*(y1-y0) + (x1-x0)*(x1-x0));
     double delta = 0.5 / dist;

common/image_u8x3.h

@@ -57,7 +57,7 @@ void image_u8x3_destroy(image_u8x3_t *im);
 int image_u8x3_write_pnm(const image_u8x3_t *im, const char *path);
 
 // only width 1 supported
-void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3], int width);
+void image_u8x3_draw_line(image_u8x3_t *im, float x0, float y0, float x1, float y1, uint8_t rgb[3]);
 
 #ifdef __cplusplus
 }