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Fix more compiler warnings on windows #306

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Merged
JanuszBedkowski merged 1 commit into from
Jan 14, 2026
Merged

Fix more compiler warnings on windows #306

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7 changes: 5 additions & 2 deletions apps/lidar_odometry_step_1/lidar_odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@

namespace fs = std::filesystem;

const float RAD_TO_DEG = 180.0f / M_PI;
const float RAD_TO_DEG = 180.0f / static_cast<float>(M_PI);

bool load_data(std::vector<std::string>& input_file_names,
LidarOdometryParams& params,
Expand Down Expand Up @@ -360,7 +360,10 @@ void calculate_trajectory(

for (const auto& [timestamp_pair, gyr, acc] : imu_data)
{
const FusionVector gyroscope = { static_cast<float>(gyr.axis.x * RAD_TO_DEG) - bias_gyr_x, static_cast<float>(gyr.axis.y * RAD_TO_DEG) - bias_gyr_y, static_cast<float>(gyr.axis.z * RAD_TO_DEG) - bias_gyr_z };
const FusionVector gyroscope = {
static_cast<float>(gyr.axis.x * RAD_TO_DEG) - static_cast<float>(bias_gyr_x),
static_cast<float>(gyr.axis.y * RAD_TO_DEG) - static_cast<float>(bias_gyr_y),
static_cast<float>(gyr.axis.z * RAD_TO_DEG) - static_cast<float>(bias_gyr_z) };
const FusionVector accelerometer = { acc.axis.x, acc.axis.y, acc.axis.z };

/*if (provious_time_stamp == 0.0)
Expand Down
2 changes: 1 addition & 1 deletion apps/mandeye_raw_data_viewer/mandeye_raw_data_viewer.cpp
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Expand Up @@ -1023,7 +1023,7 @@ void loadData()
const FusionEuler euler = FusionQuaternionToEuler(FusionAhrsGetQuaternion(&ahrs));
counter++;
if (counter % 100 == 0)
printf("Roll %0.1f, Pitch %0.1f, Yaw %0.1f [%d of %d]\n", euler.angle.roll, euler.angle.pitch, euler.angle.yaw, counter++, imu_data.size());
printf("Roll %0.1f, Pitch %0.1f, Yaw %0.1f [%d of %zu]\n", euler.angle.roll, euler.angle.pitch, euler.angle.yaw, counter++, imu_data.size());

// log it for implot
imu_data_plot.timestampLidar.push_back(timestamp_pair.first);
Expand Down
6 changes: 3 additions & 3 deletions core/include/export_laz.h
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Expand Up @@ -330,7 +330,7 @@ inline void save_processed_pc(const fs::path &file_path_in, const fs::path &file
std::abort();
}

for (int i = 0; i < header->number_of_point_records; i++)
for (uint32_t i = 0; i < header->number_of_point_records; i++)
{
if (laszip_read_point(laszip_reader))
{
Expand Down Expand Up @@ -367,7 +367,7 @@ inline void save_processed_pc(const fs::path &file_path_in, const fs::path &file

if (laszip_write_point(laszip_writer))
{
fprintf(stderr, "DLL ERROR: writing point %I64d\n", i);
fprintf(stderr, "DLL ERROR: writing point %u\n", i);
return;
}
}
Expand All @@ -394,7 +394,7 @@ inline void save_processed_pc(const fs::path &file_path_in, const fs::path &file
return;
}

fprintf(stderr, "successfully written %ld points\n", p_count);
fprintf(stderr, "successfully written %lld points\n", p_count);

// close the writer

Expand Down
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