FIX to work with RELEASE compilation

CMakeLists.txt

@@ -15,9 +15,10 @@ SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_INSTALL_PREFIX /usr/local)
 
 IF (NOT CMAKE_BUILD_TYPE)
- SET(CMAKE_BUILD_TYPE "DEBUG") 
+ SET(CMAKE_BUILD_TYPE "RELEASE") 
 ENDIF (NOT CMAKE_BUILD_TYPE)
-
+MESSAGE(STATUS "Compilation type: ${CMAKE_BUILD_TYPE}")
+ 
 if(UNIX)
   # GCC is not strict enough by default, so enable most of the warnings.
   set(CMAKE_CXX_FLAGS

src/algorithms/activesearch/alg_activesearch_load_yaml.cpp

@@ -43,7 +43,7 @@ static ParamsBasePtr createParamsACTIVESEARCHAlgorithm(const std::string & _file
 }
 
 // Register in the SensorFactory
-const bool registered_matACTIVESEARCH_params = ParamsFactory::get().registerCreator("ACTIVESEARCH ALG", createParamsACTIVESEARCHAlgorithm);
+const bool VU_UNUSED registered_matACTIVESEARCH_params = ParamsFactory::get().registerCreator("ACTIVESEARCH ALG", createParamsACTIVESEARCHAlgorithm);
 
 } /* namespace [unnamed] */
 

src/algorithms/algorithm_factory.h

@@ -24,7 +24,7 @@ inline std::string AlgorithmFactory::getClass()
 }
 
 #define VU_REGISTER_ALGORITHM(AlgorithmType, AlgorithmName) \
-  namespace{ const bool AlgorithmName##Registered = \
+  namespace{ const bool VU_UNUSED AlgorithmName##Registered = \
 	AlgorithmFactory::get().registerCreator(AlgorithmType, AlgorithmName::create, true); }\
 
 } /* namespace vision_utils */

src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk_load_yaml.cpp

@@ -45,7 +45,7 @@ static ParamsBasePtr createParamsOPTFLOWPYRLKAlgorithm(const std::string & _file
 }
 
 // Register in the SensorFactory
-const bool registered_matOPTFLOWPYRLK_params = ParamsFactory::get().registerCreator("OPTFLOWPYRLK ALG", createParamsOPTFLOWPYRLKAlgorithm);
+const bool VU_UNUSED registered_matOPTFLOWPYRLK_params = ParamsFactory::get().registerCreator("OPTFLOWPYRLK ALG", createParamsOPTFLOWPYRLKAlgorithm);
 
 } /* namespace [unnamed] */
 

src/algorithms/trackfeatures/alg_trackfeatures_load_yaml.cpp

@@ -39,7 +39,7 @@ static ParamsBasePtr createParamsTRACKFEATURESAlgorithm(const std::string & _fil
 }
 
 // Register in the SensorFactory
-const bool registered_matTRACKFEATURES_params = ParamsFactory::get().registerCreator("TRACKFEATURES ALG", createParamsTRACKFEATURESAlgorithm);
+const bool VU_UNUSED registered_matTRACKFEATURES_params = ParamsFactory::get().registerCreator("TRACKFEATURES ALG", createParamsTRACKFEATURESAlgorithm);
 
 } /* namespace [unnamed] */
 

src/common_class/frame.h

@@ -51,7 +51,7 @@ public:
 	/**
 	 * \brief Return the image
 	 */
-	cv::Mat getImage(void);
+	const cv::Mat& getImage(void) const;
 
 	/**
 	 * \brief Set the image
@@ -61,7 +61,7 @@ public:
 	/**
 	 * \brief Return the frame Keypoints
 	 */
-	KeyPointVector getKeyPoints(void);
+	KeyPointVector& getKeyPoints(void);
 
 	/**
 	 * \brief Set the frame Keypoints
@@ -82,7 +82,7 @@ public:
 	/**
 	 * \brief Return the frame descriptors
 	 */
-	cv::Mat getDescriptors(void);
+	cv::Mat& getDescriptors(void);
 
 	/**
 	 * \brief Set the frame descriptors
@@ -111,7 +111,7 @@ inline void Frame::setId(const int& _id)
 	id_ = _id;
 }
 
-inline cv::Mat Frame::getImage(void)
+inline const cv::Mat& Frame::getImage(void) const
 {
 	return img_;
 }
@@ -121,7 +121,7 @@ inline void Frame::setImage(const cv::Mat& _img)
 	img_ = _img;
 }
 
-inline 	KeyPointVector Frame::getKeyPoints(void)
+inline KeyPointVector& Frame::getKeyPoints(void)
 {
 	return kps_;
 };
@@ -141,7 +141,7 @@ inline void Frame::addKeyPoints(const KeyPointVector& _kps)
 	kps_.insert(kps_.end(), _kps.begin(), _kps.end() );
 }
 
-inline 	PointVector Frame::getPoints(void)
+inline PointVector Frame::getPoints(void)
 {
 	PointVector pvec;
 	for	(auto kp : kps_)
@@ -149,12 +149,12 @@ inline 	PointVector Frame::getPoints(void)
 	return pvec;
 };
 
-inline 	cv::Mat Frame::getDescriptors(void)
+inline cv::Mat& Frame::getDescriptors(void)
 {
 	return desc_;
 };
 
-inline 	void Frame::setDescriptors(const cv::Mat& _desc)
+inline void Frame::setDescriptors(const cv::Mat& _desc)
 {
 	assert( kps_.size() == _desc.rows && "The Number of descriptors must be equal to number of keypoints");
 	desc_ = _desc;

src/descriptors/akaze/descriptor_akaze_load_yaml.cpp

@@ -41,7 +41,7 @@ static ParamsBasePtr createParamsAKAZEDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desAKAZE_params = ParamsFactory::get().registerCreator("AKAZE DES", createParamsAKAZEDescriptor);
+const bool VU_UNUSED registered_desAKAZE_params = ParamsFactory::get().registerCreator("AKAZE DES", createParamsAKAZEDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/brief/descriptor_brief_load_yaml.cpp

@@ -36,7 +36,7 @@ static ParamsBasePtr createParamsBRIEFDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desBRIEF_params = ParamsFactory::get().registerCreator("BRIEF DES", createParamsBRIEFDescriptor);
+const bool VU_UNUSED registered_desBRIEF_params = ParamsFactory::get().registerCreator("BRIEF DES", createParamsBRIEFDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/brisk/descriptor_brisk_load_yaml.cpp

@@ -37,7 +37,7 @@ static ParamsBasePtr createParamsBRISKDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desBRISK_params = ParamsFactory::get().registerCreator("BRISK DES", createParamsBRISKDescriptor);
+const bool VU_UNUSED registered_desBRISK_params = ParamsFactory::get().registerCreator("BRISK DES", createParamsBRISKDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/daisy/descriptor_daisy_load_yaml.cpp

@@ -43,7 +43,7 @@ static ParamsBasePtr createParamsDAISYDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desDAISY_params = ParamsFactory::get().registerCreator("DAISY DES", createParamsDAISYDescriptor);
+const bool VU_UNUSED registered_desDAISY_params = ParamsFactory::get().registerCreator("DAISY DES", createParamsDAISYDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/descriptor_factory.h

@@ -24,7 +24,7 @@ inline std::string DescriptorFactory::getClass()
 }
 
 #define VU_REGISTER_DESCRIPTOR(DescriptorType, DescriptorName) \
-  namespace{ const bool DescriptorName##Registered = \
+  namespace{ const bool VU_UNUSED DescriptorName##Registered = \
 	DescriptorFactory::get().registerCreator(DescriptorType, DescriptorName::create, true); }\
 
 } /* namespace vision_utils */

src/descriptors/freak/descriptor_freak_load_yaml.cpp

@@ -39,7 +39,7 @@ static ParamsBasePtr createParamsFREAKDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desFREAK_params = ParamsFactory::get().registerCreator("FREAK DES", createParamsFREAKDescriptor);
+const bool VU_UNUSED registered_desFREAK_params = ParamsFactory::get().registerCreator("FREAK DES", createParamsFREAKDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/kaze/descriptor_kaze_load_yaml.cpp

@@ -40,7 +40,7 @@ static ParamsBasePtr createParamsKAZEDescriptor(const std::string & _filename_do
 }
 
 // Register in the SensorFactory
-const bool registered_desKAZE_params = ParamsFactory::get().registerCreator("KAZE DES", createParamsKAZEDescriptor);
+const bool VU_UNUSED registered_desKAZE_params = ParamsFactory::get().registerCreator("KAZE DES", createParamsKAZEDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/latch/descriptor_latch_load_yaml.cpp

@@ -38,7 +38,7 @@ static ParamsBasePtr createParamsLATCHDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desLATCH_params = ParamsFactory::get().registerCreator("LATCH DES", createParamsLATCHDescriptor);
+const bool VU_UNUSED registered_desLATCH_params = ParamsFactory::get().registerCreator("LATCH DES", createParamsLATCHDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/lucid/descriptor_lucid_load_yaml.cpp

@@ -36,7 +36,7 @@ static ParamsBasePtr createParamsLUCIDDescriptor(const std::string & _filename_d
 }
 
 // Register in the SensorFactory
-const bool registered_desLUCID_params = ParamsFactory::get().registerCreator("LUCID DES", createParamsLUCIDDescriptor);
+const bool VU_UNUSED registered_desLUCID_params = ParamsFactory::get().registerCreator("LUCID DES", createParamsLUCIDDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/orb/descriptor_orb_load_yaml.cpp

@@ -42,7 +42,7 @@ static ParamsBasePtr createParamsORBDescriptor(const std::string & _filename_dot
 }
 
 // Register in the SensorFactory
-const bool registered_desORB_params = ParamsFactory::get().registerCreator("ORB DES", createParamsORBDescriptor);
+const bool VU_UNUSED registered_desORB_params = ParamsFactory::get().registerCreator("ORB DES", createParamsORBDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/sift/descriptor_sift_load_yaml.cpp

@@ -39,7 +39,7 @@ static ParamsBasePtr createParamsSIFTDescriptor(const std::string & _filename_do
 }
 
 // Register in the SensorFactory
-const bool registered_desSIFT_params = ParamsFactory::get().registerCreator("SIFT DES", createParamsSIFTDescriptor);
+const bool VU_UNUSED registered_desSIFT_params = ParamsFactory::get().registerCreator("SIFT DES", createParamsSIFTDescriptor);
 
 } /* namespace [unnamed] */
 

src/descriptors/surf/descriptor_surf_load_yaml.cpp

@@ -39,7 +39,7 @@ static ParamsBasePtr createParamsSURFDescriptor(const std::string & _filename_do
 }
 
 // Register in the SensorFactory
-const bool registered_desSURF_params = ParamsFactory::get().registerCreator("SURF DES", createParamsSURFDescriptor);
+const bool VU_UNUSED registered_desSURF_params = ParamsFactory::get().registerCreator("SURF DES", createParamsSURFDescriptor);
 
 } /* namespace [unnamed] */
 

src/detectors/agast/detector_agast_load_yaml.cpp

@@ -37,7 +37,7 @@ static ParamsBasePtr createParamsAGASTDetector(const std::string & _filename_dot
 }
 
 // Register in the SensorFactory
-const bool registered_detAGAST_params = ParamsFactory::get().registerCreator("AGAST DET", createParamsAGASTDetector);
+const bool VU_UNUSED registered_detAGAST_params = ParamsFactory::get().registerCreator("AGAST DET", createParamsAGASTDetector);
 
 } /* namespace [unnamed] */
 

src/detectors/akaze/detector_akaze_load_yaml.cpp

@@ -41,7 +41,7 @@ static ParamsBasePtr createParamsAKAZEDetector(const std::string & _filename_dot
 }
 
 // Register in the SensorFactory
-const bool registered_detAKAZE_params = ParamsFactory::get().registerCreator("AKAZE DET", createParamsAKAZEDetector);
+const bool VU_UNUSED registered_detAKAZE_params = ParamsFactory::get().registerCreator("AKAZE DET", createParamsAKAZEDetector);
 
 } /* namespace [unnamed] */