diff --git a/sourceCode/SG_bagPositioning.cpp b/sourceCode/SG_bagPositioning.cpp
index abd2023..e9c3703 100644
--- a/sourceCode/SG_bagPositioning.cpp
+++ b/sourceCode/SG_bagPositioning.cpp
@@ -38,7 +38,7 @@ void sg_bagPositioning_lineProc(
 #if BAG_ALGO_USE_CORNER_FEATURE
 	sg_getLineCornerFeature(
 		filterData.data(), 
-		filterData.size(), 
+		(int)filterData.size(),
 		lineIdx, 
 		bagParam.cornerParam,  
 		&a_line_features);
@@ -58,7 +58,7 @@ void sg_bagPositioning_lineProc(
 //逆时针旋转时 θ > 0 ；顺时针旋转时 θ < 0 
 cv::Point2f _rotate2D(cv::Point2f pt, double sinTheta, double cosTheta)
 {
-	return (cv::Point2f(pt.x*cosTheta-pt.y*sinTheta, pt.x*sinTheta+pt.y*cosTheta));
+	return (cv::Point2f((float)(pt.x*cosTheta-pt.y*sinTheta), (float)(pt.x*sinTheta+pt.y*cosTheta)));
 }
 
 bool compareByHeight(const SSG_2DValueI& a, const SSG_2DValueI& b) {
@@ -185,7 +185,7 @@ int _computeMaxEmptyLen(std::vector<int>& mask)
 	int maxLen = 0;
 	int emptyLen = 0;
 	int preMaskValue = 0;
-	for (int i = 0, i_max = mask.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)mask.size(); i < i_max; i++)
 	{
 		if (0 == mask[i])
 		{
@@ -249,7 +249,7 @@ bool _validateObj_treeROI(
 	std::vector<SVzNLRangeD> rightTreeRanges;
 	std::vector<SSG_ROIRectD> innerTreeROI_v;
 	std::vector<SSG_ROIRectD> innerTreeROI_h;
-	for (int i = 0, i_max = allTreesInfo.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)allTreesInfo.size(); i < i_max; i++)
 	{
 		SSG_treeInfo* a_treeInfo = &allTreesInfo[i];
 		if (a_treeInfo->treeType == 0)
@@ -330,7 +330,7 @@ bool _validateObj_treeROI(
 	}
 	//将内部Tree合并
 	std::vector<SVzNLRangeD> innerTreeRange_v;
-	int treeROI_size = innerTreeROI_v.size();
+	int treeROI_size = (int)innerTreeROI_v.size();
 	for (int i = 0; i < treeROI_size; i++)
 	{
 		SSG_ROIRectD* a_roi = &innerTreeROI_v[i];
@@ -353,7 +353,7 @@ bool _validateObj_treeROI(
 		innerTreeRange_v.push_back(a_range);
 	}
 	std::vector<SVzNLRangeD> innerTreeRange_h;
-	treeROI_size = innerTreeROI_h.size();
+	treeROI_size = (int)innerTreeROI_h.size();
 	for (int i = 0; i < treeROI_size; i++)
 	{
 		SSG_ROIRectD* a_roi = &innerTreeROI_h[i];
@@ -568,8 +568,8 @@ SSG_peakRgnInfo _getRgnObjInfo(
 		}
 
 		int line = rgnContour[m].x;
-		float x = laser3DPoints[line].p3DPosition[rgnContour[m].y].pt3D.x;
-		float y = laser3DPoints[line].p3DPosition[rgnContour[m].y].pt3D.y;
+		float x = (float)laser3DPoints[line].p3DPosition[rgnContour[m].y].pt3D.x;
+		float y = (float)laser3DPoints[line].p3DPosition[rgnContour[m].y].pt3D.y;
 		points.push_back(cv::Point2f(x, y));
 	}
 	if (points.size() == 0)
@@ -708,7 +708,7 @@ if ((m == 226) && (n == 742))
 						best_pt = a_pt;
 					}
 				}
-				cv::Point2f r_pt = _rotate2D(cv::Point2f(a_pt->pt3D.x - vertices[0].x, a_pt->pt3D.y - vertices[0].y), sinTheta, cosTheta);
+				cv::Point2f r_pt = _rotate2D(cv::Point2f((float)(a_pt->pt3D.x - vertices[0].x), (float)(a_pt->pt3D.y - vertices[0].y)), sinTheta, cosTheta);
 				if ((r_pt.x >= 0) && (r_pt.x <= rect.size.width) && (r_pt.y <= 0) && (r_pt.y >= -rect.size.height))
 				{
 					int existId = (a_pt->nPointIdx >> 8) & 0xff;
@@ -1183,8 +1183,8 @@ void _getMatchTable(
 	matchTable.resize(matchSize);
 	for (int m = 0; m < matchSize; m++)
 		matchTable[m].roi.right = -1;  //初始化ROI
-	int size_1 = contours_1.size();
-	int size_2 = contours_2.size();
+	int size_1 = (int)contours_1.size();
+	int size_2 = (int)contours_2.size();
 	int m = 0;
 	int n = 0;
 	int matchNum = 0;
@@ -1363,7 +1363,11 @@ SSG_peakRgnInfo _getPeakRgn(
 			false,
 			&lowLevelFlag_L,
 			&lowLevelFlag_R);
-		int lowLevelFlag = lowLevelFlag_T + lowLevelFlag_B << 1 + lowLevelFlag_L << 2 + lowLevelFlag_R << 3;
+
+		lowLevelFlag_B <<= 1;
+		lowLevelFlag_L <<= 2;
+		lowLevelFlag_R <<= 3;
+		int lowLevelFlag = lowLevelFlag_T + lowLevelFlag_B + lowLevelFlag_L + lowLevelFlag_R;
 		if (lowLevelFlag > 0)
 			*lowLevelChkFlag = lowLevelFlag;
 
@@ -1399,7 +1403,7 @@ void _refineContourPairs(SSG_matchPair* valid_match, std::vector<SSG_conotourPai
 	double dist_th_H = valid_match->matchValue + sigma_th;
 	valid_match->roi.right = -1;
 	valid_match->roi.left = 0;
-	for (int i = 0, i_max = all_contourPairs.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)all_contourPairs.size(); i < i_max; i++)
 	{
 		if ((all_contourPairs[i].edgeId_0 == valid_match->id1) && (all_contourPairs[i].edgeId_1 == valid_match->id2))
 		{
@@ -1493,13 +1497,13 @@ void _refineContourPairs(SSG_matchPair* valid_match, std::vector<SSG_conotourPai
 			a_pair->matchValue = -1.0;
 	}
 	///去除无效匹配
-	int TB_size = TB_pairs.size();
+	int TB_size = (int)TB_pairs.size();
 	for (int i = TB_size - 1; i >= 0; i--)
 	{
 		if ( (TB_pairs[i].matchValue < 0) || (TB_pairs[i].id1 == TB_pairs[i].id2))
 			TB_pairs.erase(TB_pairs.begin() + i);
 	}
-	TB_size = TB_pairs.size();
+	TB_size = (int)TB_pairs.size();
 	//计算每个匹配的平均距离:LR
 	for (int i = 0; i < LR_pairs.size(); i++)
 	{
@@ -1525,13 +1529,13 @@ void _refineContourPairs(SSG_matchPair* valid_match, std::vector<SSG_conotourPai
 			a_pair->matchValue = -1.0;
 	}
 	///去除无效匹配
-	int LR_size = LR_pairs.size();
+	int LR_size = (int)LR_pairs.size();
 	for (int i = LR_size - 1; i >= 0; i--)
 	{
 		if (( LR_pairs[i].matchValue < 0) || (LR_pairs[i].id1 == LR_pairs[i].id2))
 			LR_pairs.erase(LR_pairs.begin() + i);
 	}
-	LR_size = LR_pairs.size();
+	LR_size = (int)LR_pairs.size();
 	//四种情况：（1）TB一个， LR一个，（2）TB一个，LR多个，（3）TB多个，LR一个（4）TB多个，LR多个
 	int edgeId_top = -1, edgeId_btm = -1, edgeId_left = -1, edgeId_right = -1;
 	SVzNLRangeD L_th = {-80, algoParam.bagParam.bagL * 0.25};
@@ -2253,7 +2257,7 @@ void sg_getBagPosition(
 						px,
 						py,
 						interPts);
-					for (int m = 0, m_max = interPts.size(); m < m_max; m++)
+					for (int m = 0, m_max = (int)interPts.size(); m < m_max; m++)
 						bwImg.at<uchar>(interPts[m].y, interPts[m].x) = 1;
 				}
 			}
@@ -2297,7 +2301,7 @@ void sg_getBagPosition(
 #endif
 
 	int vldRgnSize = (int)((algoParam.bagParam.bagL * algoParam.bagParam.bagW / 2) / (scale * scale));
-	for (int rgnid = 0, rgn_max = labelRgns.size(); rgnid < rgn_max; rgnid++)
+	for (int rgnid = 0, rgn_max = (int)labelRgns.size(); rgnid < rgn_max; rgnid++)
 	{
 		SSG_Region* a_rgn = &labelRgns[rgnid];
 		if (a_rgn->ptCounter < vldRgnSize)
@@ -2398,7 +2402,7 @@ if (hLine == 14)
 #if BAG_ALGO_USE_CORNER_FEATURE
 		sg_getLineCornerFeature(
 			smoothData.data(), 
-			smoothData.size(), 
+			(int)smoothData.size(),
 			hLine, 
 			algoParam.cornerParam, 
 			&a_hLine_featrues);
@@ -2440,13 +2444,13 @@ if (hLine == 14)
 		v_edgePts_0,
 		v_edgePts_1);
 	//对tree的node的连续性进行插值，保证无空缺
-	for (int treeId = 0, tree_max = v_trees.size(); treeId < tree_max; treeId++)
+	for (int treeId = 0, tree_max = (int)v_trees.size(); treeId < tree_max; treeId++)
 	{
 		SSG_featureTree& a_vTree = v_trees[treeId];
 		if (a_vTree.treeNodes.size() > 0)
 		{
 			//从后往前处理，这个插值的点插入后不影响继续处理的下标
-			for (int nid = a_vTree.treeNodes.size() - 2; nid >= 0; nid--)
+			for (int nid = (int)a_vTree.treeNodes.size() - 2; nid >= 0; nid--)
 			{
 				SSG_basicFeature1D curr_node = a_vTree.treeNodes[nid];
 				SSG_basicFeature1D nxt_node = a_vTree.treeNodes[nid+1];
@@ -2520,13 +2524,13 @@ if (hLine == 14)
 		h_edgePts_0,
 		h_edgePts_1);
 	//对tree的node的连续性进行插值，保证无空缺
-	for (int treeId = 0, tree_max = h_trees.size(); treeId < tree_max; treeId++)
+	for (int treeId = 0, tree_max = (int)h_trees.size(); treeId < tree_max; treeId++)
 	{
 		SSG_featureTree& a_hTree = h_trees[treeId];
 		if (a_hTree.treeNodes.size() > 0)
 		{
 			//从后往前处理，这个插值的点插入后不影响继续处理的下标
-			for (int nid = a_hTree.treeNodes.size() - 2; nid >= 0; nid--)
+			for (int nid = (int)a_hTree.treeNodes.size() - 2; nid >= 0; nid--)
 			{
 				SSG_basicFeature1D curr_node = a_hTree.treeNodes[nid];
 				SSG_basicFeature1D nxt_node = a_hTree.treeNodes[nid + 1];
@@ -2676,7 +2680,7 @@ if (hLine == 14)
 							px,
 							py,
 							interPts);
-						for (int m = 0, m_max = interPts.size(); m < m_max; m++)
+						for (int m = 0, m_max = (int)interPts.size(); m < m_max; m++)
 							distTranformMask.at<float>(interPts[m].y, interPts[m].x) = 1e+6;
 					}
 				}
@@ -2744,7 +2748,7 @@ if (hLine == 14)
 	}
 #else //根据起点的生长树进行标注
 	int treeID = 1;
-	for (int i = 0, i_max = vEdge_0_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vEdge_0_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_vEdgeTree = &vEdge_0_trees[i];
 
@@ -2758,7 +2762,7 @@ if (hLine == 14)
 		a_treeInfo.roi = a_vEdgeTree->roi;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_vEdgeTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_vEdgeTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_vEdgeTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -2804,7 +2808,7 @@ if (hLine == 14)
 		}
 	}
 #else //根据起点的生长树进行标注
-	for (int i = 0, i_max = vEdge_1_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vEdge_1_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_vEdgeTree = &vEdge_1_trees[i];
 
@@ -2818,7 +2822,7 @@ if (hLine == 14)
 		a_treeInfo.roi = a_vEdgeTree->roi;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_vEdgeTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_vEdgeTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_vEdgeTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -2865,7 +2869,7 @@ if (hLine == 14)
 		}
 	}
 #else //根据起点的生长树进行标注
-	for (int i = 0, i_max = hEdge_0_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)hEdge_0_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_hEdgeTree = &hEdge_0_trees[i];
 		//记录Tree的信息
@@ -2881,7 +2885,7 @@ if (hLine == 14)
 		a_treeInfo.roi.bottom = a_hEdgeTree->roi.right;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_hEdgeTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_hEdgeTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_hEdgeTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -2931,7 +2935,7 @@ if (hLine == 14)
 		}
 	}
 #else //根据起点的生长树进行标注
-	for (int i = 0, i_max = hEdge_1_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)hEdge_1_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_hEdgeTree = &hEdge_1_trees[i];
 		//记录Tree的信息
@@ -2947,7 +2951,7 @@ if (hLine == 14)
 		a_treeInfo.roi.bottom = a_hEdgeTree->roi.right;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_hEdgeTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_hEdgeTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_hEdgeTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -2975,7 +2979,7 @@ if (hLine == 14)
 	//treeIndex 5-8预留给迭代后目标的边界：5-上边界， 6-下边界，7-左边界，8-右边界
 	int hvTreeIdx = treeID;
 	int vTreeStart = treeID;
-	for (int i = 0, i_max = v_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_vTree = &v_trees[i];
 		
@@ -2989,7 +2993,7 @@ if (hLine == 14)
 		a_treeInfo.roi = a_vTree->roi;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_vTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_vTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -3014,7 +3018,7 @@ if (hLine == 14)
 	}
 	int hTreeStart = hvTreeIdx;
 	////标注:水平特征
-	for (int i = 0, i_max = h_trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_hTree = &h_trees[i];
 		//记录Tree的信息
@@ -3030,7 +3034,7 @@ if (hLine == 14)
 		a_treeInfo.roi.bottom = a_hTree->roi.right;
 		allTreesInfo.push_back(a_treeInfo);
 		//在原始点云上标记，同时有Mask上标记
-		for (int j = 0, j_max = a_hTree->treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D* a_feature = &a_hTree->treeNodes[j];
 			if (laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
@@ -3242,7 +3246,7 @@ if (col == 586)
 	}
 	//按照高度排序
 	std::sort(peaks.begin(), peaks.end(), compareByHeight);
-	for (int i = 0, i_max = peaks.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)peaks.size(); i < i_max; i++)
 		featureMask.at<cv::Vec4i>(peaks[i].y, peaks[i].x)[3] = 1;  //peak flag
 
 #if 0
@@ -3257,7 +3261,7 @@ if (col == 586)
 	/// 以区域最高点作为种子进行区域生长
 	std::vector<SSG_peakRgnInfo> peakRgns;
 	int peakRgnId = 1;
-	for (int i = 0, i_max = peaks.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)peaks.size(); i < i_max; i++)
 	{
 if (i == 3)
 	int kkk = 1;
@@ -3393,7 +3397,7 @@ if (i == 3)
 		std::vector<SSG_peakRgnInfo> iter_objs;
 		//将没有处理的Peak点保留
 		std::vector<SSG_2DValueI> residualPeaks;
-		for (int i = 0, i_max = peaks.size(); i < i_max; i++)
+		for (int i = 0, i_max = (int)peaks.size(); i < i_max; i++)
 		{
 			SVzNL3DPosition* pk_pt = &(laser3DPoints[peaks[i].x].p3DPosition[peaks[i].y]);
 			int pkRgnId = (pk_pt->nPointIdx >> 8) & 0xff;
@@ -3544,7 +3548,7 @@ if (i == 3)
 	std::vector<SSG_2DValueI> smallObjPeaks;  //记录0.25L * 0.25W的目标，用于碰撞检查
 	//将最后没有处理的Peak点保留
 	std::vector<SSG_2DValueI> residualPeaks;
-	for (int i = 0, i_max = peaks.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)peaks.size(); i < i_max; i++)
 	{
 		SVzNL3DPosition* pk_pt = &(laser3DPoints[peaks[i].x].p3DPosition[peaks[i].y]);
 		int pkRgnId = (pk_pt->nPointIdx >> 8) & 0xff;
@@ -3697,7 +3701,7 @@ if (i == 3)
 		}
 		//取同高度层的目标
 		std::vector<SSG_peakRgnInfo> level0_objs;
-		for (int i = 0, i_max = peakRgns.size(); i < i_max; i++)
+		for (int i = 0, i_max = (int)peakRgns.size(); i < i_max; i++)
 		{
 			double z_diff = peakRgns[i].centerPos.z - maxHeight;
 			if (z_diff < algoParam.bagParam.bagH / 2)  //分层
@@ -3707,7 +3711,7 @@ if (i == 3)
 		}
 		peakRgns.clear();
 		peakRgns.insert(peakRgns.end(), level0_objs.begin(), level0_objs.end());
-		int level0_size = peakRgns.size();
+		int level0_size = (int)peakRgns.size();
 		if (level0_size > 1)  //进一步排序，分行
 		{
 			//取Y最小的目标
@@ -3790,7 +3794,7 @@ if (i == 3)
 	invMatrix[2][0] = poseCalibPara.invRMatrix[6];
 	invMatrix[2][1] = poseCalibPara.invRMatrix[7];
 	invMatrix[2][2] = poseCalibPara.invRMatrix[8];
-	for (int i = 0, i_max = objOps.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)objOps.size(); i < i_max; i++)
 	{
 		SSG_EulerAngles euAngle = { objOps[i].centerPos.x_roll, objOps[i].centerPos.y_pitch, objOps[i].centerPos.z_yaw};
 		double pose[3][3];
@@ -3995,7 +3999,7 @@ void sg_getBagPositionAndOrientation(
 	{
 		*errCode = SG_ERR_3D_DATA_INVLD;
 		//释放内存
-		for (int i = 0, i_max = cloudPts.size(); i < i_max; i++)
+		for (int i = 0, i_max = (int)cloudPts.size(); i < i_max; i++)
 			free(cloudPts[i].p3DPosition);
 		return;
 	}
@@ -4004,13 +4008,13 @@ void sg_getBagPositionAndOrientation(
 	std::vector<SSG_peakRgnInfo> peakRgn;
 	sg_getBagPosition(
 		&cloudPts[0],
-		cloudPts.size(),
+		(int)cloudPts.size(),
 		algoParam,
 		poseCalibPara,
 		peakRgn);
 
 	//释放内存
-	for (int i = 0, i_max = cloudPts.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)cloudPts.size(); i < i_max; i++)
 	{
 #if OUTPUT_DEBUG
 		std::vector< SVzNL3DPosition> out_line;
@@ -4030,7 +4034,7 @@ void sg_getBagPositionAndOrientation(
 	//将颜色属性转成HSV
 	HSV hsvPattern = RGBtoHSV(rgbColorPattern.r, rgbColorPattern.g, rgbColorPattern.b);
 	//进行颜色统计处理：取centerPos为中心的（0.8*Width, 0.8*Height）的范围内的点进行统计
-	int objNum = peakRgn.size();
+	int objNum = (int)peakRgn.size();
 	if (objNum > 0)
 	{
 		//以水平放置的矩阵为标准模型位置，即水平方向为长度，垂直方向为宽度
@@ -4140,7 +4144,7 @@ void sg_getBagPositionAndOrientation(
 							else if (m == 3)
 								int kkk = 1;
 							double rx_abs = abs(rx);
-							int hist_idx = rx_abs / x_slice[m];
+							int hist_idx = (int)(rx_abs / x_slice[m]);
 							if (hist_idx >= RGN_HIST_SIZE / 2)
 								hist_idx = RGN_HIST_SIZE / 2 - 1;
 							if (rx < 0)
@@ -4328,7 +4332,7 @@ void sg_sideBagPosition(
 		std::vector< SSG_basicFeature1D> localPkTop;
 		sg_getLineLocalPeaks(
 			filterData.data(),
-			filterData.size(),
+			(int)filterData.size(),
 			hLine,
 			(algoParam.bagParam.bagH / 2),
 			localPkBtm,
@@ -4376,7 +4380,7 @@ void sg_sideBagPosition(
 
 	//对top进行过滤
 	std::vector<SSG_featureTree> h_trees_top;
-	for (int i = 0, i_max = h_trees_top_all.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees_top_all.size(); i < i_max; i++)
 	{
 		double w = h_trees_top_all[i].roi.right - h_trees_top_all[i].roi.left;
 		if (w > algoParam.bagParam.bagW / 2)
@@ -4388,7 +4392,7 @@ void sg_sideBagPosition(
 
 	//确定顶层位置
 	double topLayer_height = std::numeric_limits<double>::max();  //一个极大值
-	for (int i = 0, i_max = h_trees_top.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees_top.size(); i < i_max; i++)
 	{
 		double layer_h = (h_trees_top[i].roi.top + h_trees_top[i].roi.bottom) / 2;
 		if (topLayer_height > layer_h)
@@ -4398,7 +4402,7 @@ void sg_sideBagPosition(
 	///判断层间
 	///寻找第一个位置最高的Tree，这个是编织袋的突出部，为一个纺织袋的中间
 	std::vector<SSG_featureTree> hTree_top_first;
-	for (int i = 0, i_max = h_trees_top.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees_top.size(); i < i_max; i++)
 	{
 		double layer_h = (h_trees_top[i].roi.top + h_trees_top[i].roi.bottom) / 2;
 		double layer_h_diff = layer_h - topLayer_height;
@@ -4413,7 +4417,7 @@ void sg_sideBagPosition(
 	std::sort(hTree_top_first.begin(), hTree_top_first.end(), compareByXPos);
 	//寻找与topLayer_height最近的bottom
 	std::vector<SSG_featureTree> hTree_btm_first;
-	for (int i = 0, i_max = h_trees_bottom.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees_bottom.size(); i < i_max; i++)
 	{
 		double layer_h = (h_trees_bottom[i].roi.top + h_trees_bottom[i].roi.bottom) / 2;
 		double layer_h_diff = layer_h - topLayer_height;
@@ -4423,11 +4427,11 @@ void sg_sideBagPosition(
 	
 	//标注
 	int treeId = 1000;
-	for (int i = 0, i_max = hTree_top_first.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)hTree_top_first.size(); i < i_max; i++)
 	{
 		treeId++;
 		SSG_featureTree& a_tree = hTree_top_first[i];
-		for (int j = 0, j_max = a_tree.treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_tree.treeNodes.size(); j < j_max; j++)
 		{
 			int lineIdx = a_tree.treeNodes[j].jumpPos2D.y;
 			int ptIdx = a_tree.treeNodes[j].jumpPos2D.x;
@@ -4436,11 +4440,11 @@ void sg_sideBagPosition(
 	}
 #if 1
 	treeId = 2000;
-	for (int i = 0, i_max = hTree_btm_first.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)hTree_btm_first.size(); i < i_max; i++)
 	{
 		treeId++;
 		SSG_featureTree& a_tree = hTree_btm_first[i];
-		for (int j = 0, j_max = a_tree.treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_tree.treeNodes.size(); j < j_max; j++)
 		{
 			int lineIdx = a_tree.treeNodes[j].jumpPos2D.y;
 			int ptIdx = a_tree.treeNodes[j].jumpPos2D.x;
@@ -4450,13 +4454,13 @@ void sg_sideBagPosition(
 #endif
 	//生成目标数据
 	int objId = 1;
-	for (int i = 0, i_max = hTree_top_first.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)hTree_top_first.size(); i < i_max; i++)
 	{
 		SSG_featureTree& a_tree = hTree_top_first[i];
 		double center_x = (a_tree.roi.left + a_tree.roi.right) / 2;
 		std::vector< SVzNL3DPoint> pkPts;
 		SVzNL3DPoint objPt = { 0,0,0 };  //与center_x最近的点作为目标点。
-		for (int j = 0, j_max = a_tree.treeNodes.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)a_tree.treeNodes.size(); j < j_max; j++)
 		{
 			SVzNL3DPoint a_pt = a_tree.treeNodes[j].jumpPos;
 			//a_pt.y = a_tree.treeNodes[j].jumpPos.x;
@@ -4484,10 +4488,10 @@ void sg_sideBagPosition(
 		//计算抓取点
 		SVzNL3DPoint pre_pt = { 0,0,0 };
 		SVzNL3DPoint post_pt = { 0,0,0 };
-		for (int m = 0, m_max = hTree_btm_first.size(); m < m_max; m++)
+		for (int m = 0, m_max = (int)hTree_btm_first.size(); m < m_max; m++)
 		{
 			SSG_featureTree& a_btm_tree = hTree_btm_first[m];
-			int node_size = a_btm_tree.treeNodes.size();
+			int node_size = (int)a_btm_tree.treeNodes.size();
 			if (node_size == 0)
 				continue;
 
@@ -4507,7 +4511,7 @@ void sg_sideBagPosition(
 			}
 			else
 			{
-				for (int n = 0, n_max = a_btm_tree.treeNodes.size(); n < n_max; n++)
+				for (int n = 0, n_max = (int)a_btm_tree.treeNodes.size(); n < n_max; n++)
 				{
 					SSG_basicFeature1D& a_node = a_btm_tree.treeNodes[n];
 					if (a_node.jumpPos.x <= center_x)
@@ -4613,7 +4617,7 @@ void sg_getSideBagStackBasePosition(
 		std::vector< SSG_basicFeature1D> jumps;
 		sg_getLineDownJumps(
 			hLines[hLine].data(),
-			hLines[hLine].size(),
+			(int)hLines[hLine].size(),
 			hLine,
 			stackBaseParam.jumpTh,
 			jumps);
@@ -4643,10 +4647,10 @@ void sg_getSideBagStackBasePosition(
 	//根据长度进行进行配对
 	std::vector<SSG_intPair> basePairs;
 	std::vector<double> basePairYDist;
-	for (int i = 0, i_max = h_trees_jumps.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)h_trees_jumps.size(); i < i_max; i++)
 	{
 		SSG_featureTree& tree_1 = h_trees_jumps[i];
-		int nodeSize = tree_1.treeNodes.size();
+		int nodeSize = (int)tree_1.treeNodes.size();
 		if(nodeSize <2)
 			continue;
 		SSG_basicFeature1D& node1_L = tree_1.treeNodes[0];
@@ -4658,7 +4662,7 @@ void sg_getSideBagStackBasePosition(
 		for (int j = i + 1; j < i_max; j++)
 		{
 			SSG_featureTree& tree_2 = h_trees_jumps[j];
-			int nodeSize_2 = tree_2.treeNodes.size();
+			int nodeSize_2 = (int)tree_2.treeNodes.size();
 			if (nodeSize_2 < 2)
 				continue;
 			SSG_basicFeature1D& node2_L = tree_2.treeNodes[0];
@@ -4702,7 +4706,7 @@ void sg_getSideBagStackBasePosition(
 		
 		double minDist = basePairYDist[0];
 		//挑选一个最佳的匹配
-		for (int i = 1, i_max = basePairs.size(); i < i_max; i++)
+		for (int i = 1, i_max = (int)basePairs.size(); i < i_max; i++)
 		{
 			if (minDist > basePairYDist[i])
 			{
@@ -4720,7 +4724,7 @@ void sg_getSideBagStackBasePosition(
 	//标注
 	int treeId = 1;
 	SSG_featureTree& a_tree = h_trees_jumps[bestOne.data_0];
-	for (int j = 0, j_max = a_tree.treeNodes.size(); j < j_max; j++)
+	for (int j = 0, j_max = (int)a_tree.treeNodes.size(); j < j_max; j++)
 	{
 		int lineIdx = a_tree.treeNodes[j].jumpPos2D.y;
 		int ptIdx = a_tree.treeNodes[j].jumpPos2D.x;
@@ -4728,7 +4732,7 @@ void sg_getSideBagStackBasePosition(
 	}
 	treeId = 2;
 	a_tree = h_trees_jumps[bestOne.data_1];
-	for (int j = 0, j_max = a_tree.treeNodes.size(); j < j_max; j++)
+	for (int j = 0, j_max = (int)a_tree.treeNodes.size(); j < j_max; j++)
 	{
 		int lineIdx = a_tree.treeNodes[j].jumpPos2D.y;
 		int ptIdx = a_tree.treeNodes[j].jumpPos2D.x;
diff --git a/sourceCode/SG_baseFunc.cpp b/sourceCode/SG_baseFunc.cpp
index 083f0ba..66acdd8 100644
--- a/sourceCode/SG_baseFunc.cpp
+++ b/sourceCode/SG_baseFunc.cpp
@@ -71,10 +71,10 @@ SVzNL3DRangeD sg_getScanDataROI_vector(std::vector< std::vector<SVzNL3DPosition>
 	roi.yRange = { 0, -1 };
 	roi.zRange = { 0, -1 };
 
-	int lineNum = scanLines.size();
+	int lineNum = (int)scanLines.size();
 	for (int line = 0; line < lineNum; line++)
 	{
-		int nPositionCnt = scanLines[line].size();
+		int nPositionCnt = (int)scanLines[line].size();
 		for (int i = 0; i < nPositionCnt; i++)
 		{
 			SVzNL3DPosition* pt3D = &scanLines[line][i];
@@ -689,7 +689,7 @@ void vzCaculateLaserPlane(std::vector<cv::Point3f> Points3ds, std::vector<double
 	A.at<double>(2, 1) = yi;
 	A.at<double>(0, 2) = xi;
 	A.at<double>(1, 2) = yi;
-	A.at<double>(2, 2) = Points3ds.size();
+	A.at<double>(2, 2) = (double)((int)Points3ds.size());
 	B.at<double>(0, 0) = zixi;
 	B.at<double>(1, 0) = ziyi;
 	B.at<double>(2, 0) = zi;
@@ -1014,14 +1014,14 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
 		case 2: //下降
 			if (z_diff > 0)   //  上升
 			{
-				int pkBtmIdx = pkBtm.size();
+				int pkBtmIdx = (int)pkBtm.size();
 				pkBtmBackIndexing[pre_i] = pkBtmIdx;
 				pkBtm.push_back({ pre_i, pre_data });
 				_state = 1;
 			}
 			else if (i == (zHistSize - 1))
 			{
-				int pkBtmIdx = pkBtm.size();
+				int pkBtmIdx = (int)pkBtm.size();
 				pkBtmBackIndexing[i] = pkBtmIdx;
 				pkBtm.push_back({ i, curr_data });
 			}
@@ -1039,7 +1039,7 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
 
 	int pntSizeTh = totalPntSize / 10;
 	SSG_intPair* vldPeak = NULL;
-	for (int i = 0, i_max = pkTop.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)pkTop.size(); i < i_max; i++)
 	{
 		if (pkTop[i].data_1 > pntSizeTh)
 		{
@@ -1102,9 +1102,9 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
 			if ((pt3D->pt3D.z >= topZRange.min) && (pt3D->pt3D.z <= topZRange.max))
 			{
 				cv::Point3f a_vldPt;
-				a_vldPt.x = pt3D->pt3D.x;
-				a_vldPt.y = pt3D->pt3D.y;
-				a_vldPt.z = pt3D->pt3D.z;
+				a_vldPt.x = (float)pt3D->pt3D.x;
+				a_vldPt.y = (float)pt3D->pt3D.y;
+				a_vldPt.z = (float)pt3D->pt3D.z;
 				Points3ds.push_back(a_vldPt);
 			}
 		}
@@ -1169,7 +1169,7 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
 	//数据进行转换
 	SVzNLRangeD calibZRange = { 0, -1 };
 	topZRange = { 0, -1 };
-	for (int i = 0, i_max = Points3ds.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)Points3ds.size(); i < i_max; i++)
 	{
 		//z
 		if (topZRange.max < topZRange.min)
@@ -1185,9 +1185,9 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
 				topZRange.max = Points3ds[i].z;
 		}
 		cv::Point3f a_calibPt;
-		a_calibPt.x = Points3ds[i].x * planePara.planeCalib[0] + Points3ds[i].y * planePara.planeCalib[1] + Points3ds[i].z * planePara.planeCalib[2];
-		a_calibPt.y = Points3ds[i].x * planePara.planeCalib[3] + Points3ds[i].y * planePara.planeCalib[4] + Points3ds[i].z * planePara.planeCalib[5];
-		a_calibPt.z = Points3ds[i].x * planePara.planeCalib[6] + Points3ds[i].y * planePara.planeCalib[7] + Points3ds[i].z * planePara.planeCalib[8];
+		a_calibPt.x = (float)(Points3ds[i].x * planePara.planeCalib[0] + Points3ds[i].y * planePara.planeCalib[1] + Points3ds[i].z * planePara.planeCalib[2]);
+		a_calibPt.y = (float)(Points3ds[i].x * planePara.planeCalib[3] + Points3ds[i].y * planePara.planeCalib[4] + Points3ds[i].z * planePara.planeCalib[5]);
+		a_calibPt.z = (float)(Points3ds[i].x * planePara.planeCalib[6] + Points3ds[i].y * planePara.planeCalib[7] + Points3ds[i].z * planePara.planeCalib[8]);
 		//z
 		if (calibZRange.max < calibZRange.min)
 		{
@@ -1237,7 +1237,7 @@ SSG_planeCalibPara sg_getPlaneCalibPara_ROIs(
 				continue;
 
 			bool isValid = false;
-			for (int m = 0, m_max = ROIs.size(); m < m_max; m++)
+			for (int m = 0, m_max = (int)ROIs.size(); m < m_max; m++)
 			{
 				if ((pt3D->pt3D.x >= ROIs[m].xRange.min) && (pt3D->pt3D.x <= ROIs[m].xRange.max) &&
 					(pt3D->pt3D.y >= ROIs[m].yRange.min) && (pt3D->pt3D.y <= ROIs[m].yRange.max) &&
@@ -1251,9 +1251,9 @@ SSG_planeCalibPara sg_getPlaneCalibPara_ROIs(
 				continue;
 
 			cv::Point3f a_vldPt;
-			a_vldPt.x = pt3D->pt3D.x;
-			a_vldPt.y = pt3D->pt3D.y;
-			a_vldPt.z = pt3D->pt3D.z;
+			a_vldPt.x = (float)pt3D->pt3D.x;
+			a_vldPt.y = (float)pt3D->pt3D.y;
+			a_vldPt.z = (float)pt3D->pt3D.z;
 			Points3ds.push_back(a_vldPt);
 		}
 	}
@@ -1317,12 +1317,12 @@ SSG_planeCalibPara sg_getPlaneCalibPara_ROIs(
 #endif
 	//数据进行转换
 	SVzNLRangeD calibZRange = { 0, -1 };
-	for (int i = 0, i_max = Points3ds.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)Points3ds.size(); i < i_max; i++)
 	{
 		cv::Point3f a_calibPt;
-		a_calibPt.x = Points3ds[i].x * planePara.planeCalib[0] + Points3ds[i].y * planePara.planeCalib[1] + Points3ds[i].z * planePara.planeCalib[2];
-		a_calibPt.y = Points3ds[i].x * planePara.planeCalib[3] + Points3ds[i].y * planePara.planeCalib[4] + Points3ds[i].z * planePara.planeCalib[5];
-		a_calibPt.z = Points3ds[i].x * planePara.planeCalib[6] + Points3ds[i].y * planePara.planeCalib[7] + Points3ds[i].z * planePara.planeCalib[8];
+		a_calibPt.x = (float)(Points3ds[i].x * planePara.planeCalib[0] + Points3ds[i].y * planePara.planeCalib[1] + Points3ds[i].z * planePara.planeCalib[2]);
+		a_calibPt.y = (float)(Points3ds[i].x * planePara.planeCalib[3] + Points3ds[i].y * planePara.planeCalib[4] + Points3ds[i].z * planePara.planeCalib[5]);
+		a_calibPt.z = (float)(Points3ds[i].x * planePara.planeCalib[6] + Points3ds[i].y * planePara.planeCalib[7] + Points3ds[i].z * planePara.planeCalib[8]);
 		//z
 		if (calibZRange.max < calibZRange.min)
 		{
@@ -1489,9 +1489,9 @@ void lineDataRT_RGBD(SVzNLXYZRGBDLaserLine* a_line, const double* camPoseR, doub
 		double z = a_pt.x * camPoseR[6] + a_pt.y * camPoseR[7] + a_pt.z * camPoseR[8];
 		if ((groundH > 0) && (z > groundH))  //去除地面
 			z = 0;
-		a_pt.x = x;
-		a_pt.y = y;
-		a_pt.z = z;
+		a_pt.x = (float)x;
+		a_pt.y = (float)y;
+		a_pt.z = (float)z;
 		a_line->p3DPoint[i] = a_pt;
 	}
 	return;
diff --git a/sourceCode/SG_clustering.cpp b/sourceCode/SG_clustering.cpp
index 1dcef43..d54727d 100644
--- a/sourceCode/SG_clustering.cpp
+++ b/sourceCode/SG_clustering.cpp
@@ -16,7 +16,7 @@ void _seedClustering(
 			break;
 
 		SVzNL3DPosition a_seed = a_cluster[i];
-		for (int i = 0, i_max = pts.size(); i < i_max; i++)
+		for (int i = 0, i_max = (int)pts.size(); i < i_max; i++)
 		{
 			if (pts[i].nPointIdx < 0)
 				continue;
@@ -38,7 +38,7 @@ void sg_pointClustering(
 	std::vector<std::vector< SVzNL3DPosition>>& objClusters  //result
 )
 {
-	int ptSize = pts.size();
+	int ptSize = (int)pts.size();
 	if (ptSize == 0)
 		return;
 	while(pts.size() > 0)
@@ -55,7 +55,7 @@ void sg_pointClustering(
 			clusterDist);
 		objClusters.push_back(a_cluster); //保存一个聚类
 		//将pts中处理过的点去除
-		int m_max = pts.size();
+		int m_max = (int)pts.size();
 		for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 		{
 			if(pts[m].nPointIdx < 0)
diff --git a/sourceCode/SG_featureGrow.cpp b/sourceCode/SG_featureGrow.cpp
index a9724b4..d286208 100644
--- a/sourceCode/SG_featureGrow.cpp
+++ b/sourceCode/SG_featureGrow.cpp
@@ -54,7 +54,7 @@ bool _checkTypeMatch(int treeType, int featureType)
 //没有使用全匹配。一个feature一旦被匹配上，匹配就完成。没有使用最佳匹配。
 bool _featureGrowing(SSG_basicFeature1D& a_feature, const int lineIdx, std::vector<SSG_featureTree>& trees, SSG_treeGrowParam growParam)
 {
-	for (int i = 0, i_max = trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree& a_tree = trees[i];
 		if (TREE_STATE_DEAD == a_tree.treeState)
@@ -187,7 +187,7 @@ bool _invalidateVSlopeTrees(SSG_featureTree& a_tree, double minLTypeTreeLen, dou
 		else
 		{
 			//为了防止两端的点的扫描点的高度异常变化， 取中间段进行坡度计算
-			int size = a_tree.treeNodes.size();
+			int size = (int)a_tree.treeNodes.size();
 			int pos_0 = size / 4;
 			int pos_1 = size * 3 / 4;
 			SSG_basicFeature1D* node_0 = &(a_tree.treeNodes[pos_0]);
@@ -224,7 +224,7 @@ void _growingFromHead(SSG_featureTree* a_tree, std::vector<SSG_lineFeature>& lin
 	for (int i = head_line-1; i >= 0; i--)
 	{
 		SSG_lineFeature* a_line = &lineFeatures[i];
-		int endingNum = a_line->endings.size();
+		int endingNum = (int)a_line->endings.size();
 		
 		bool growFlag = false;
 		for (int m = 0; m < endingNum; m++)
@@ -254,7 +254,7 @@ void _growingFromTail(SSG_featureTree* a_tree, std::vector<SSG_lineFeature>& lin
 	for (int i = tail_line + 1; i < lineFeatures.size(); i++)
 	{
 		SSG_lineFeature* a_line = &lineFeatures[i];
-		int endingNum = a_line->endings.size();
+		int endingNum = (int)a_line->endings.size();
 
 		bool growFlag = false;
 		for (int m = 0; m < endingNum; m++)
@@ -294,7 +294,7 @@ void _getTreeROI(SSG_featureTree* a_tree)
 		a_tree->roi.right = a_tree->treeNodes[0].jumpPos.x;
 		a_tree->roi.top = a_tree->treeNodes[0].jumpPos.y;
 		a_tree->roi.bottom = a_tree->treeNodes[0].jumpPos.y;
-		for (int i = 1, i_max = a_tree->treeNodes.size(); i < i_max; i++)
+		for (int i = 1, i_max = (int)a_tree->treeNodes.size(); i < i_max; i++)
 		{
 			if(a_tree->roi.left > a_tree->treeNodes[i].jumpPos.x)
 				a_tree->roi.left = a_tree->treeNodes[i].jumpPos.x;
@@ -312,7 +312,7 @@ void _getTreeROI(SSG_featureTree* a_tree)
 SSG_featureTree* _getIncludingBigTree(SSG_featureTree* a_tree, std::vector<SSG_featureTree>& trees, bool chk_up)
 {
 	SSG_featureTree* _bigTree = NULL;
-	for (int i = 0, i_max = trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* chk_tree = &trees[i];
 		if (a_tree == chk_tree)
@@ -361,12 +361,12 @@ void sg_getFeatureGrowingTrees(
 	std::vector<SSG_featureTree>& trees,
 	SSG_treeGrowParam growParam)
 {
-	for (int i = 0, i_max = lineFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)lineFeatures.size(); i < i_max; i++)
 	{
 		SSG_lineFeature& a_line = lineFeatures[i];
 		if (a_line.features.size() > 0)
 		{
-			for (int j = 0, j_max = a_line.features.size(); j < j_max; j++)
+			for (int j = 0, j_max = (int)a_line.features.size(); j < j_max; j++)
 			{
 				SSG_basicFeature1D& a_feature = a_line.features[j];
 				if (a_feature.jumpPos2D.x == 207)
@@ -388,7 +388,7 @@ void sg_getFeatureGrowingTrees(
 		//检查停止生长的树,加速。
 		//将生长节点为1的生长树移除
 		int lineIdx = a_line.lineIdx;
-		int m_max = trees.size();
+		int m_max = (int)trees.size();
 		for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 		{
 			if (TREE_STATE_ALIVE == trees[m].treeState)
@@ -416,7 +416,7 @@ void sg_lineFeaturesGrowing(
 {
 	if (features.size() > 0)
 	{
-		for (int j = 0, j_max = features.size(); j < j_max; j++)
+		for (int j = 0, j_max = (int)features.size(); j < j_max; j++)
 		{
 			SSG_basicFeature1D& a_feature = features[j];
 			if (a_feature.jumpPos2D.x== 207)
@@ -437,7 +437,7 @@ void sg_lineFeaturesGrowing(
 	}
 	//检查停止生长的树,加速。
 	//将生长节点为1的生长树移除
-	int m_max = trees.size();
+	int m_max = (int)trees.size();
 	for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 	{
 		if (TREE_STATE_ALIVE == trees[m].treeState)
@@ -463,7 +463,7 @@ void sg_getEndingGrowingTrees(
 	std::vector<SSG_featureTree>& trees,
 	SSG_treeGrowParam growParam)
 {
-	for (int i = 0, i_max = lineEndings.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)lineEndings.size(); i < i_max; i++)
 	{
 		if (i == 175)
 			int kkk = 1;
@@ -496,7 +496,7 @@ void sg_getEndingGrowingTrees(
 		//检查停止生长的树,加速。
 		//将生长节点为1的生长树移除
 		int lineIdx = an_ending.x;
-		int m_max = trees.size();
+		int m_max = (int)trees.size();
 		for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 		{
 			if (TREE_STATE_ALIVE == trees[m].treeState)
@@ -531,14 +531,14 @@ void sg_LVFeatureGrowing(
 		growParam);
 
 	//迭代一次：重新对每棵树头尾检查，看是否可以继续生长到LINE_EDGE
-	for (int i = 0, i_max = trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_tree = &trees[i];
 
 		//Tree类型重新统计确定。
 		std::vector<int> typeStat;
 		typeStat.resize(LINE_FEATURE_NUM);
-		for (int m = 0, m_max = a_tree->treeNodes.size(); m < m_max; m++)
+		for (int m = 0, m_max = (int)a_tree->treeNodes.size(); m < m_max; m++)
 		{
 			int type = a_tree->treeNodes[m].featureType;
 			typeStat[type]++;
@@ -564,7 +564,7 @@ void sg_LVFeatureGrowing(
 	///两种过滤方法：
 	///（1）针对SLOPE和V型生长树，检查生长方向和垂直方向的比例。
 	///（2）宏观检查：检查短的生长树是否被长的生长树所包含
-	int tree_size = trees.size();
+	int tree_size = (int)trees.size();
 	for (int m = tree_size - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 	{
 		SSG_featureTree* a_tree = &trees[m]; 
@@ -583,7 +583,7 @@ void sg_LVFeatureGrowing(
 			}
 		}
 	}
-	tree_size = trees.size();
+	tree_size = (int)trees.size();
 	for (int m = tree_size - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 	{
 if (m == 24)
@@ -614,10 +614,10 @@ if (m == 24)
 	std::vector<SSG_2DValueI> edge1_pts;
 	std::vector<double> edge0_y;
 	std::vector<double> edge1_y;
-	for (int i = 0, i_max = lineFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)lineFeatures.size(); i < i_max; i++)
 	{
 		SSG_lineFeature& a_line = lineFeatures[i];
-		int a_line_endingNum = a_line.endings.size();
+		int a_line_endingNum = (int)a_line.endings.size();
 		if (a_line_endingNum > 0)
 		{
 			for (int m = 0; m < a_line_endingNum; m++)
@@ -672,7 +672,7 @@ void sg_getPeakGrowingTrees(
 	std::vector<SSG_featureTree>& trees,
 	SSG_treeGrowParam growParam)
 {
-	for (int i = 0, i_max = peakFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)peakFeatures.size(); i < i_max; i++)
 	{
 		int lineIdx = i;
 if (i == 761)
@@ -680,7 +680,7 @@ if (i == 761)
 		std::vector< SSG_basicFeature1D>& a_linePeak = peakFeatures[i];
 		if (a_linePeak.size() > 0)
 		{
-			for (int j = 0, j_max = a_linePeak.size(); j < j_max; j++)
+			for (int j = 0, j_max = (int)a_linePeak.size(); j < j_max; j++)
 			{
 				SSG_basicFeature1D& a_feature = a_linePeak[j];
 				if (a_feature.jumpPos2D.x == 207)
@@ -701,7 +701,7 @@ if (i == 761)
 		}
 		//检查停止生长的树,加速。
 		//将生长节点为1的生长树移除
-		int m_max = trees.size();
+		int m_max = (int)trees.size();
 		for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 		{
 			if (TREE_STATE_ALIVE == trees[m].treeState)
@@ -732,7 +732,7 @@ void sg_peakFeatureGrowing(
 		trees,
 		growParam);
 
-	for (int i = 0, i_max = trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)trees.size(); i < i_max; i++)
 	{
 		SSG_featureTree* a_tree = &trees[i];
 		_getTreeROI(a_tree);
@@ -789,7 +789,7 @@ int _featureGrowing_semiCircle(
 	if ((FEATURE_FLAG_INVLD_START == a_feature.flag) || (FEATURE_FLAG_VALID_START == a_feature.flag))
 		return -1;
 
-	for (int i = 0, i_max = trees.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)trees.size(); i < i_max; i++)
 	{
 		SSG_semiCircleFeatureTree& a_tree = trees[i];
 		if (TREE_STATE_DEAD == a_tree.treeState)
@@ -828,7 +828,7 @@ void sg_getFeatureGrowingTrees_semiCircle(
 	std::vector<SSG_semiCircleFeatureTree>& invalidTrees,
 	SSG_treeGrowParam growParam)
 {
-	for (int i = 0, i_max = lineFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)lineFeatures.size(); i < i_max; i++)
 	{
 		SSG_featureSemiCircle& a_feature = lineFeatures[i];
 		if (FEATURE_FLAG_INVALID == a_feature.flag)
@@ -854,7 +854,7 @@ void sg_getFeatureGrowingTrees_semiCircle(
 				double minDist = abs(a_feature.midPt.y - last_node.midPt.y);
 				int bestMatch = i;
 				//取最小的匹配
-				for (int m = 0, m_max = otherMatching.size(); m < m_max; m++)
+				for (int m = 0, m_max = (int)otherMatching.size(); m < m_max; m++)
 				{
 					int idx = otherMatching[m];
 					double y_diff = abs(lineFeatures[idx].midPt.y - last_node.midPt.y);
@@ -865,7 +865,7 @@ void sg_getFeatureGrowingTrees_semiCircle(
 					}
 				}
 				otherMatching.push_back(i);
-				for (int m = 0, m_max = otherMatching.size(); m < m_max; m++)
+				for (int m = 0, m_max = (int)otherMatching.size(); m < m_max; m++)
 				{
 					int idx = otherMatching[m];
 					if (bestMatch == idx)
@@ -896,7 +896,7 @@ void sg_getFeatureGrowingTrees_semiCircle(
 	}
 	//检查停止生长的树,加速。
 	//将生长节点为1的生长树移除
-	int m_max = trees.size();
+	int m_max = (int)trees.size();
 	for (int m = m_max - 1; m >= 0; m--)  //从后往前，这样删除不会影响循环
 	{
 		if (TREE_STATE_ALIVE == trees[m].treeState)
diff --git a/sourceCode/SG_lineFeature.cpp b/sourceCode/SG_lineFeature.cpp
index cf028ed..fc7c9e0 100644
--- a/sourceCode/SG_lineFeature.cpp
+++ b/sourceCode/SG_lineFeature.cpp
@@ -70,7 +70,7 @@ void sg_lineDataSmoothing(
 	output.resize(input.size()); // 预分配足够的空间
 	std::copy(input.begin(), input.end(), output.begin());
 
-	int size = input.size();
+	int size = (int)input.size();
 	for (int i = 0; i < size; i++)
 	{
 		if (input[i].pt3D.z > 1e-4)
@@ -105,7 +105,7 @@ void sg_lineSegSmoothing(
 	//output.resize(input.size()); // 预分配足够的空间
 	//std::copy(input.begin(), input.end(), output.begin());
 
-	int dataSize = input.size();
+	int dataSize = (int)input.size();
 	//计算分段
 	std::vector<std::vector<SVzNL3DPosition>> segs;
 	std::vector<SVzNL3DPosition> a_seg;
@@ -144,7 +144,7 @@ void sg_lineSegSmoothing(
 		segs.push_back(a_seg);
 
 	//分段平滑
-	for (int i = 0, i_max = segs.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
 	{
 		std::vector<SVzNL3DPosition> seg_output;
 		sg_lineDataSmoothing(segs[i],  smoothWin, seg_output);
@@ -196,7 +196,7 @@ if (i == 370)
 	if(a_run.len > 0)
 		continueRuns.push_back(a_run);
 
-	for (int i = 0, i_max = continueRuns.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)continueRuns.size(); i < i_max; i++)
 	{
 		if (continueRuns[i].len < filterParam.outlierTh)  //噪声
 		{
@@ -253,7 +253,7 @@ void sg_lineDataRemoveOutlier_changeOriginData(
 	if (a_run.len > 0)
 		continueRuns.push_back(a_run);
 
-	for (int i = 0, i_max = continueRuns.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)continueRuns.size(); i < i_max; i++)
 	{
 		if (continueRuns[i].len < filterParam.outlierTh)  //噪声
 		{
@@ -329,7 +329,7 @@ void sg_lineDataRemoveOutlier_ptDistMethod(SVzNL3DPosition* lineData, int dataSi
 	if (a_run.len > 0)
 		continueRuns.push_back(a_run);
 
-	for (int i = 0, i_max = continueRuns.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)continueRuns.size(); i < i_max; i++)
 	{
 		if (continueRuns[i].len < filterParam.outlierTh)  //噪声
 		{
@@ -721,7 +721,7 @@ void sg_getLineLVFeature(SVzNL3DPosition* lineData, int dataSize, int lineIdx, c
 	
 	//首先检查L型边界：本身具有足够坡度，与下一段形成明显坡度差
 	//再检查是否可以形成V型特征
-	for (int i = 0, i_max = slopes.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)slopes.size(); i < i_max; i++)
 	{
 		SSG_slope* a_slope = &slopes[i];
 		if (a_slope->flag > 0)
@@ -1093,7 +1093,7 @@ void sg_getLineLVFeature(SVzNL3DPosition* lineData, int dataSize, int lineIdx, c
 		}
 	}
 	//检查连续的JUMP是否可能合并
-	int i = line_features->features.size() - 2;
+	int i = (int)line_features->features.size() - 2;
 	while(i >= 0)
 	{
 		if (i < ((int)line_features->features.size() - 1))
@@ -1218,7 +1218,7 @@ void sg_getLineCornerFeature(
 	//计算前向角和后向角
 	std::vector< SSG_pntDirAngle> corners;
 	corners.resize(vldPts.size());
-	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
 	{
 		if ((lineIdx == 399) && (i == 419))
 			int kkk = 1;
@@ -1279,7 +1279,7 @@ void sg_getLineCornerFeature(
 	SSG_pntDirAngle* pre_data = NULL;
 	std::vector< SSG_pntDirAngle> cornerPeakP;
 	std::vector< SSG_pntDirAngle> cornerPeakM;
-	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
 	{
 		if (i == 275)
 			int kkk = 1;
@@ -1346,6 +1346,309 @@ void sg_getLineCornerFeature(
 	}
 	//注意：最后一个不处理，为基座位置
 
+	//极小值点（峰顶）
+	//极值比较，在尺度窗口下寻找局部极值点
+	double square_distTh = 4 * cornerPara.scale * cornerPara.scale;  //2倍的cornerScale。
+	for (int i = 0, i_max = (int)cornerPeakP.size(); i < i_max; i++)
+	{
+		if (cornerPeakP[i].corner < cornerPara.cornerTh)
+			continue;
+
+		bool isPeak = true;
+		//向前搜索
+		int cornerPtIdx = cornerPeakP[i].pntIdx;
+		for (int j = i - 1; j >= 0; j--)
+		{
+			int prePtIdx = cornerPeakP[j].pntIdx;
+			double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[prePtIdx].pt3D.y, 2); // + pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2) ;
+			if (dist > square_distTh)  //超出尺度窗口
+				break;
+
+			if (cornerPeakP[i].corner < cornerPeakP[j].corner)
+			{
+				isPeak = false;
+				break;
+			}
+		}
+		//向后搜索
+		if (true == isPeak)
+		{
+			cornerPtIdx = cornerPeakP[i].pntIdx;
+			for (int j = i + 1; j < i_max; j++)
+			{
+				int postPtIdx = cornerPeakP[j].pntIdx;
+				double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[postPtIdx].pt3D.y, 2); // +pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2);
+				if (dist > square_distTh)  //超出尺度窗口
+					break;
+
+				if (cornerPeakP[i].corner < cornerPeakP[j].corner)
+				{
+					isPeak = false;
+					break;
+				}
+			}
+		}
+		if (true == isPeak)
+		{
+			SSG_basicFeature1D a_feature;
+			if( (cornerPeakP[i].backwardAngle > cornerPara.jumpCornerTh_1) && (cornerPeakP[i].forwardAngle > -cornerPara.jumpCornerTh_2))
+				a_feature.featureType = LINE_FEATURE_L_JUMP_H2L;
+			else if ((cornerPeakP[i].forwardAngle < -cornerPara.jumpCornerTh_1) && (cornerPeakP[i].backwardAngle < cornerPara.jumpCornerTh_2))
+				a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
+			else
+				a_feature.featureType = LINE_FEATURE_CORNER_V;
+
+
+			a_feature.jumpPos = vldPts[cornerPtIdx].pt3D;
+			a_feature.jumpPos2D = { lineIdx, vldPts[cornerPtIdx].nPointIdx };
+			line_features->features.push_back(a_feature);
+		}
+	}
+
+	//添加开始和结束边界
+	//检查seg是否需要合并；向后合并
+	for (int i = 0, i_max = (int)segs.size(); i < i_max - 1; i++)
+	{
+		SSG_RUN* nxt_seg = &segs[i + 1];
+		SSG_RUN* curr_seg = &segs[i];
+
+		int idx_1 = curr_seg->start + curr_seg->len - 1;
+		int idx_2 = nxt_seg->start;
+		double y_diff = abs(lineData[idx_1].pt3D.y - lineData[idx_2].pt3D.y);
+		double z_diff = abs(lineData[idx_1].pt3D.z - lineData[idx_2].pt3D.z);
+		if ( (y_diff < cornerPara.minEndingGap) && (z_diff < cornerPara.minEndingGap_z)) //合并
+		{
+			int idx_end = nxt_seg->start + nxt_seg->len - 1;
+			nxt_seg->start = curr_seg->start;
+			nxt_seg->len = idx_end - curr_seg->start + 1;
+			curr_seg->value = 0;
+		}
+	}
+	for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
+	{
+		if (0 == segs[i].value)  //被合并
+			continue;
+		
+		int idx_1 = segs[i].start;
+		int idx_2 = segs[i].start + segs[i].len - 1;
+
+		SSG_basicFeature1D an_edge;
+		memset(&an_edge, 0, sizeof(SSG_basicFeature1D));
+		an_edge.featureType = LINE_FEATURE_LINE_ENDING_0;
+		an_edge.jumpPos = lineData[idx_1].pt3D;
+		an_edge.jumpPos2D = { lineIdx, idx_1 };
+		line_features->endings.push_back(an_edge);
+		//line_features.insert(line_features.begin(), an_edge); //头部
+		//尾部
+		an_edge.featureType = LINE_FEATURE_LINE_ENDING_1;
+		an_edge.jumpPos = lineData[idx_2].pt3D;
+		an_edge.jumpPos2D = { lineIdx, idx_2 };
+		line_features->endings.push_back(an_edge);
+	}
+	return;
+}
+
+#if 0
+void sg_getLineCorners(
+	std::vector<SVzNL3DPosition>& lineData,
+	int lineIdx,
+	const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
+	SSG_lineFeature* line_features)
+{
+	line_features->lineIdx = lineIdx;
+	if (lineIdx == 538)
+		int kkk = 1;
+	//去除零点
+	std::vector< SVzNL3DPosition> vldPts;
+	std::vector<SSG_RUN> segs;
+	//修改seg的定义。seg端点是两点间距离大于门限的点
+	int segStart = -1, segEnd = -1;
+	int dataSize = 
+	for (int i = 0; i < dataSize; i++)
+	{
+		if ((lineIdx == 399) && (i == 568))
+			int kkk = 1;
+		SVzNL3DPosition a_pt = lineData[i];
+		a_pt.nPointIdx = i;
+		if (lineData[i].pt3D.z > 1e-4)
+			vldPts.push_back(a_pt);
+
+		//seg判断
+		if (lineData[i].pt3D.z > 1e-4)
+		{
+			if (segStart < 0)
+				segStart = i;
+			else  //检查两点距离
+			{
+				SVzNL3DPosition pre_pt = lineData[i - 1];
+				double diff_z = abs(a_pt.pt3D.z - pre_pt.pt3D.z);
+				if (diff_z > cornerPara.minEndingGap_z)
+				{
+					SSG_RUN a_run;
+					a_run.start = segStart;
+					a_run.len = segEnd - segStart + 1;
+					a_run.value = 1;
+					segs.push_back(a_run);
+					segStart = i;
+				}
+			}
+			segEnd = i;
+		}
+		else
+		{
+			if (segStart >= 0)
+			{
+				SSG_RUN a_run;
+				a_run.start = segStart;
+				a_run.len = segEnd - segStart + 1;
+				a_run.value = 1;
+				segs.push_back(a_run);
+				segStart = -1;
+				segEnd = -1;
+			}
+		}
+	}
+	//last
+	if (segStart >= 0)
+	{
+		SSG_RUN a_run;
+		a_run.start = segStart;
+		a_run.len = segEnd - segStart + 1;
+		a_run.value = 1;
+		segs.push_back(a_run);
+	}
+
+	//计算前向角和后向角
+	std::vector< SSG_pntDirAngle> corners;
+	corners.resize(vldPts.size());
+	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	{
+		if ((lineIdx == 399) && (i == 419))
+			int kkk = 1;
+		//前向寻找
+		int pre_i = -1;
+		for (int j = i - 1; j >= 0; j--)
+		{
+			double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
+				pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
+			if (dist >= cornerPara.scale)
+			{
+				pre_i = j;
+				break;
+			}
+		}
+		//后向寻找
+		int post_i = -1;
+		for (int j = i + 1; j < i_max; j++)
+		{
+			double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
+				pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
+			if (dist >= cornerPara.scale)
+			{
+				post_i = j;
+				break;
+			}
+		}
+		//计算拐角
+		if ((pre_i < 0) || (post_i < 0))
+		{
+			corners[i].pntIdx = -1;
+			corners[i].forwardAngle = 0;
+			corners[i].backwardAngle = 0;
+			corners[i].corner = 0;
+			corners[i].forwardDiffZ = 0;
+			corners[i].backwardDiffZ = 0;
+		}
+		else
+		{
+			double tanValue_pre = (vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z) / abs(vldPts[i].pt3D.y - vldPts[pre_i].pt3D.y);
+			double tanValue_post = (vldPts[post_i].pt3D.z - vldPts[i].pt3D.z) / abs(vldPts[post_i].pt3D.y - vldPts[i].pt3D.y);
+			double forwardAngle = atan(tanValue_post) * 180.0 / PI;
+			double backwardAngle = atan(tanValue_pre) * 180.0 / PI;
+			corners[i].pntIdx = i;
+			corners[i].forwardAngle = forwardAngle;
+			corners[i].backwardAngle = backwardAngle;
+			corners[i].corner = -(forwardAngle - backwardAngle);  //图像坐标系与正常坐标系y方向相反，所以有“-”号
+			corners[i].forwardDiffZ = vldPts[post_i].pt3D.z - vldPts[i].pt3D.z;
+			corners[i].backwardDiffZ = vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z;
+		}
+	}
+
+	//搜索拐角极值
+	int _state = 0;
+	int pre_i = -1;
+	int sEdgePtIdx = -1;
+	int eEdgePtIdx = -1;
+	SSG_pntDirAngle* pre_data = NULL;
+	std::vector< SSG_pntDirAngle> cornerPeakP;
+	std::vector< SSG_pntDirAngle> cornerPeakM;
+	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	{
+		if (i == 275)
+			int kkk = 1;
+		SSG_pntDirAngle* curr_data = &corners[i];
+		if (curr_data->pntIdx < 0)
+		{
+			if (i == i_max - 1)  //最后一个
+			{
+				if (1 == _state)  //上升
+				{
+					cornerPeakP.push_back(corners[eEdgePtIdx]);
+				}
+				else if (2 == _state) //下降
+				{
+					cornerPeakM.push_back(corners[eEdgePtIdx]);
+				}
+			}
+			continue;
+		}
+
+		if (NULL == pre_data)
+		{
+			sEdgePtIdx = i;
+			eEdgePtIdx = i;
+			pre_data = curr_data;
+			pre_i = i;
+			continue;
+		}
+
+		eEdgePtIdx = i;
+		double cornerDiff = curr_data->corner - pre_data->corner;
+		switch (_state)
+		{
+		case 0:  //初态
+			if (cornerDiff < 0) //下降
+			{
+				_state = 2;
+			}
+			else if (cornerDiff > 0) //上升
+			{
+				_state = 1;
+			}
+			break;
+		case 1: //上升
+			if (cornerDiff < 0)   //下降
+			{
+				cornerPeakP.push_back(*pre_data);
+				_state = 2;
+			}
+			break;
+		case 2: //下降
+			if (cornerDiff > 0)   //  上升
+			{
+				cornerPeakM.push_back(*pre_data);
+				_state = 1;
+			}
+			break;
+		default:
+			_state = 0;
+			break;
+		}
+		pre_data = curr_data;
+		pre_i = i;
+	}
+	//注意：最后一个不处理，为基座位置
+
 	//极小值点（峰顶）
 	//极值比较，在尺度窗口下寻找局部极值点
 	double square_distTh = 4 * cornerPara.scale * cornerPara.scale;  //2倍的cornerScale。
@@ -1391,7 +1694,7 @@ void sg_getLineCornerFeature(
 		if (true == isPeak)
 		{
 			SSG_basicFeature1D a_feature;
-			if( (cornerPeakP[i].backwardAngle > cornerPara.jumpCornerTh_1) && (cornerPeakP[i].forwardAngle > -cornerPara.jumpCornerTh_2))
+			if ((cornerPeakP[i].backwardAngle > cornerPara.jumpCornerTh_1) && (cornerPeakP[i].forwardAngle > -cornerPara.jumpCornerTh_2))
 				a_feature.featureType = LINE_FEATURE_L_JUMP_H2L;
 			else if ((cornerPeakP[i].forwardAngle < -cornerPara.jumpCornerTh_1) && (cornerPeakP[i].backwardAngle < cornerPara.jumpCornerTh_2))
 				a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
@@ -1416,7 +1719,7 @@ void sg_getLineCornerFeature(
 		int idx_2 = nxt_seg->start;
 		double y_diff = abs(lineData[idx_1].pt3D.y - lineData[idx_2].pt3D.y);
 		double z_diff = abs(lineData[idx_1].pt3D.z - lineData[idx_2].pt3D.z);
-		if ( (y_diff < cornerPara.minEndingGap) && (z_diff < cornerPara.minEndingGap_z)) //合并
+		if ((y_diff < cornerPara.minEndingGap) && (z_diff < cornerPara.minEndingGap_z)) //合并
 		{
 			int idx_end = nxt_seg->start + nxt_seg->len - 1;
 			nxt_seg->start = curr_seg->start;
@@ -1428,7 +1731,7 @@ void sg_getLineCornerFeature(
 	{
 		if (0 == segs[i].value)  //被合并
 			continue;
-		
+
 		int idx_1 = segs[i].start;
 		int idx_2 = segs[i].start + segs[i].len - 1;
 
@@ -1447,7 +1750,7 @@ void sg_getLineCornerFeature(
 	}
 	return;
 }
-
+#endif
 /// <summary>
 /// 提取激光线上的极值点（极大值点和极小值点）
 /// 
@@ -1539,7 +1842,7 @@ void sg_getLineLocalPeaks(
 	//极小值点（峰顶）
 	//极值比较，在尺度窗口下寻找局部极值点
 	double square_distTh = scaleWin * scaleWin;
-	for (int i = 0, i_max = pkTop.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)pkTop.size(); i < i_max; i++)
 	{
 		bool isPeak = true;
 		//向前搜索
@@ -1581,7 +1884,7 @@ void sg_getLineLocalPeaks(
 		}
 	}
 	//极大值点（谷底）
-	for (int i = 0, i_max = pkBtm.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)pkBtm.size(); i < i_max; i++)
 	{
 		bool isPeak = true;
 		//向前搜索
@@ -1921,7 +2224,7 @@ int _findSegMaxZPt(
 	double* meanZ,
 	bool* foundJump)
 {
-	int dataSize = lineData.size();
+	int dataSize = (int)lineData.size();
 	double start_y = lineData[searchStart].pt3D.y;
 	double start_z = lineData[searchStart].pt3D.z;
 	if (start_z < 1e-4)
@@ -1978,7 +2281,7 @@ void sg_getFlatLineLocalPeaks_vector(
 	const double holeR,
 	std::vector< SSG_basicFeature1D>& localMax)
 {
-	int dataSize = lineData.size();
+	int dataSize = (int)lineData.size();
 	if (dataSize < 2)
 		return;
 
@@ -1996,7 +2299,7 @@ void sg_getFlatLineLocalPeaks_vector(
 			sampleData.push_back(a_sample);
 	}
 
-	sampleNum = sampleData.size();
+	sampleNum = (int)sampleData.size();
 	std::vector< _FeatureInfo> allSubFeatures;
 	allSubFeatures.resize(sampleNum);
 	for (int i = 0; i < sampleNum; i++)  //初始化
@@ -2160,7 +2463,7 @@ void sg_getFlatLineLocalPeaks_vector(
 	featureBuffer.resize(vldFeatures.size());
 	for (int i = 0; i < vldFeatures.size(); i++) //初始化
 		featureBuffer[i].featureType = LINE_FEATURE_UNDEF;
-	for (int i = 0, i_max = vldFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldFeatures.size(); i < i_max; i++)
 	{
 		if (vldFeatures[i].type == LINE_FEATURE_L_JUMP_H2L)
 		{
@@ -2320,7 +2623,7 @@ void sg_getFlatLineLocalPeaks_vector(
 		}
 	}
 	//对SLOPE进行配对
-	for (int i = 0, i_max = vldFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldFeatures.size(); i < i_max; i++)
 	{
 		if (vldFeatures[i].type == LINE_FEATURE_L_SLOPE_L2H)
 		{
@@ -2410,7 +2713,7 @@ void sg_getFlatLineLocalPeaks_vector(
 		}
 
 	}
-	for (int i = 0, i_max = vldFeatures.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldFeatures.size(); i < i_max; i++)
 	{
 		if (featureBuffer[i].featureType != LINE_FEATURE_UNDEF)
 		{
@@ -2586,7 +2889,7 @@ void sg_getLineUpperSemiCircleFeature(
 		segs.push_back(a_run);
 	}
 	//检查seg是否需要合并；向后合并
-	for (int i = 0, i_max = segs.size(); i < i_max - 1; i++)
+	for (int i = 0, i_max = (int)segs.size(); i < i_max - 1; i++)
 	{
 		SSG_RUN* nxt_seg = &segs[i + 1];
 		SSG_RUN* curr_seg = &segs[i];
@@ -2610,7 +2913,7 @@ void sg_getLineUpperSemiCircleFeature(
 	endingFlag.resize(dataSize);
 	for (int i = 0; i < dataSize; i++)
 		endingFlag[i] = 0;
-	for (int i = 0,i_max=segs.size(); i < i_max; i++)
+	for (int i = 0,i_max= (int)segs.size(); i < i_max; i++)
 	{
 		if (0 == segs[i].value)  //被合并
 			continue;
@@ -2629,12 +2932,12 @@ void sg_getLineUpperSemiCircleFeature(
 			slopePara.LSlopeZWin,
 			segMax,
 			segMin);
-		for (int m = 0, m_max = segMax.size(); m < m_max; m++)
+		for (int m = 0, m_max = (int)segMax.size(); m < m_max; m++)
 		{
 			segMax[m].jumpPos2D.y += idx_1;
 			localMax.push_back(segMax[m]);
 		}
-		for (int m = 0, m_max = segMin.size(); m < m_max; m++)
+		for (int m = 0, m_max = (int)segMin.size(); m < m_max; m++)
 		{
 			segMin[m].jumpPos2D.y += idx_1;
 			localMin.push_back(segMin[m]);
@@ -2644,7 +2947,7 @@ void sg_getLineUpperSemiCircleFeature(
 	//计算slope的Z变化
 	std::vector< SSG_zWin> slopes; //记录窗口长度内的z变化
 	slopes.resize(vldPts.size());
-	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
 	{
 		//后向寻找
 		int post_i = -1;
@@ -2683,7 +2986,7 @@ void sg_getLineUpperSemiCircleFeature(
 	std::vector< SSG_zWin> zWinPeakM;  //负的zWin
 	SSG_zWin* maxPkPlus = NULL;
 	SSG_zWin* maxPkMinus = NULL;
-	for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
 	{
 		if (i == 275)
 			int kkk = 1;
@@ -2802,7 +3105,7 @@ void sg_getLineUpperSemiCircleFeature(
 	//极值比较，在尺度窗口下寻找局部极值点
 	std::vector<SSG_zWin> validZWinPeakP;
 	double square_distTh = 4 * slopePara.LSlopeZWin * slopePara.LSlopeZWin;  //2倍的cornerScale。
-	for (int i = 0, i_max = zWinPeakP.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)zWinPeakP.size(); i < i_max; i++)
 	{
 		if (zWinPeakP[i].zDiff < slopePara.validSlopeH)
 			continue;
@@ -2855,7 +3158,7 @@ void sg_getLineUpperSemiCircleFeature(
 
 	//极值比较，在尺度窗口下寻找局部极值点
 	std::vector<SSG_zWin> validZWinPeakM;
-	for (int i = 0, i_max = zWinPeakM.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)zWinPeakM.size(); i < i_max; i++)
 	{
 		if (zWinPeakM[i].zDiff > -slopePara.validSlopeH)
 			continue;
@@ -2908,7 +3211,7 @@ void sg_getLineUpperSemiCircleFeature(
 
 	//对validCornerPeakP进行配对
 	std::vector< SSG_featureSemiCircle> line_features;
-	for (int i = 0, i_max = localMin.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)localMin.size(); i < i_max; i++)
 	{
 		int ptIdx = localMin[i].jumpPos2D.y;
 		if (endingFlag[ptIdx] > 0)  //已经被处理
@@ -2952,7 +3255,7 @@ void sg_getLineUpperSemiCircleFeature(
 					a_feature.lineIdx = lineIdx;
 					a_feature.midPtIdx = _getYNearestPtIdx(lineData, preIdx, postIdx, midY);
 					a_feature.midPt = lineData[a_feature.midPtIdx].pt3D;
-					if (a_feature.midPtIdx >= 0);
+					if (a_feature.midPtIdx >= 0)
 					{
 						int pkIdx = _getSegPeak(lineData, preIdx, postIdx);
 						a_feature.pkHeight = lineData[pkIdx].pt3D.z;
@@ -2998,7 +3301,7 @@ void sg_getLineUpperSemiCircleFeature(
 	}
 
 	//根据孔洞目标进行合并
-	for (int i = 0, i_max = line_features.size(); i < i_max; i++)
+	for (int i = 0, i_max = (int)line_features.size(); i < i_max; i++)
 	{
 		if (FEATURE_FLAG_INVALID == line_features[i].flag)
 			continue;
@@ -3031,8 +3334,6 @@ void sg_getLineUpperSemiCircleFeature(
 	return;
 }
 
-
-
 //计算检查长度时使用街区距离以避免太多的平方和开方运算
 //如果z方向为Jump返回True。Jump定义Seed前一个点z的变化大于门限
 bool _getPtPreMaxDelta(
diff --git a/sourceCode/SG_regionGrow.cpp b/sourceCode/SG_regionGrow.cpp
index fe446db..0f615fd 100644
--- a/sourceCode/SG_regionGrow.cpp
+++ b/sourceCode/SG_regionGrow.cpp
@@ -127,7 +127,7 @@ void _getRgnVldContour(std::vector< SSG_2DValueI>& contourPts, std::vector< SSG_
     //游程分析
     std::vector< SSG_RUN> contourRuns;
     SSG_RUN a_run = { -1,-1,-1};
-    for (int i = 0, i_max = contourPts.size(); i < i_max; i++)
+    for (int i = 0, i_max = (int)contourPts.size(); i < i_max; i++)
     {
         SSG_2DValueI* a_pt = &contourPts[i];
         if (a_pt->x < 0)
@@ -172,7 +172,7 @@ void _getRgnVldContour(std::vector< SSG_2DValueI>& contourPts, std::vector< SSG_
     if (contourRuns.size() > 0)
     {
         //保留长的边界，小的短的边界可能是噪声
-        for (int i = 0, i_max = contourRuns.size(); i < i_max; i++)
+        for (int i = 0, i_max = (int)contourRuns.size(); i < i_max; i++)
         {
             SSG_RUN* curr_run = &contourRuns[i];
             if(curr_run->len > noiseRunLenTh)
@@ -180,7 +180,7 @@ void _getRgnVldContour(std::vector< SSG_2DValueI>& contourPts, std::vector< SSG_
                 idIndexing[curr_run->value] = 1;
             }
         }
-        for (int i = 0, i_max = contourPts.size(); i < i_max; i++)
+        for (int i = 0, i_max = (int)contourPts.size(); i < i_max; i++)
         {
             SSG_2DValueI a_pt = contourPts[i];
             if (a_pt.x < 0)
@@ -222,10 +222,10 @@ void sg_getContourPts(
     //生成有效contour
     //统计block(遮挡)的比例
     int blockPtNum = 0;
-    for (int m = 0, m_max = contour_all.size(); m < m_max; m++)
+    for (int m = 0, m_max = (int)contour_all.size(); m < m_max; m++)
     {
         std::vector<SSG_contourPtInfo>& a_line_contourPts = contour_all[m].contourPts;
-        for (int i = 0, i_max = a_line_contourPts.size(); i < i_max; i++)
+        for (int i = 0, i_max = (int)a_line_contourPts.size(); i < i_max; i++)
         {
             SSG_contourPtInfo* a_contourPt = &a_line_contourPts[i];
             int an_edgeIdx = a_contourPt->edgeId;
@@ -260,10 +260,10 @@ void sg_getPairingContourPts(
     //统计block(遮挡)的比例
     int blockPtNum_0 = 0;
     int blockPtNum_1 = 0;
-    for (int m = 0, m_max = contourPairs.size(); m < m_max; m++)
+    for (int m = 0, m_max = (int)contourPairs.size(); m < m_max; m++)
     {
         SSG_conotourPair& a_ptPair = contourPairs[m];
-        for (int i = 0, i_max = idPairs.size(); i < i_max; i++)
+        for (int i = 0, i_max = (int)idPairs.size(); i < i_max; i++)
         {
             SSG_intPair& a_idPair = idPairs[i];
             if ( (a_ptPair.edgeId_0 == a_idPair.data_0) && 
@@ -294,7 +294,7 @@ void sg_getPairingContourPts(
             }
         }
     }
-    int totalNum = contourFilter.size();
+    int totalNum = (int)contourFilter.size();
     if(blockPtNum_0 > totalNum/2)
         *lowLevelFlag_0 = 1;
     if (blockPtNum_1 > totalNum / 2)
@@ -314,7 +314,7 @@ void sg_contourPostProc(std::vector< SSG_contourPtInfo>& contour, int maxEdgeIdx
     std::vector< SSG_contourEdgeInfo> edgeInfo;
     edgeInfo.resize(maxEdgeIdx + 1);
     std::vector<int> egdeIndexing;
-    for (int i = 0, i_max = contour.size(); i < i_max; i++)
+    for (int i = 0, i_max = (int)contour.size(); i < i_max; i++)
     {
         SSG_contourPtInfo* a_contourPt = &contour[i];
         int edgeIdx = a_contourPt->edgeId;
@@ -372,7 +372,7 @@ void sg_contourPostProc(std::vector< SSG_contourPtInfo>& contour, int maxEdgeIdx
         double dist_diff = scanDist - minScanDist;
         if (dist_diff < sameConturDistTh)
         {
-            for (int m = 0, m_max = contour.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)contour.size(); m < m_max; m++)
             {
                 SSG_contourPtInfo* a_contourPt = &contour[m];
                 int an_edgeIdx = a_contourPt->edgeId;
@@ -945,7 +945,7 @@ if (x == 0)
             break;
         else
         {
-            for (int m = 0, m_max = a_line_upEdgePts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_upEdgePts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_top < a_line_upEdgePts[m].edgeId)
                     *maxEdgeId_top = a_line_upEdgePts[m].edgeId;
@@ -956,7 +956,7 @@ if (x == 0)
                 topContour.insert(topContour.begin(), _line_upContours);
             }
 
-            for (int m = 0, m_max = a_line_downEdgePts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_downEdgePts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_btm < a_line_downEdgePts[m].edgeId)
                     *maxEdgeId_btm = a_line_downEdgePts[m].edgeId;
@@ -1012,7 +1012,7 @@ if (x == 34)
             break;
         else
         {
-            for (int m = 0, m_max = a_line_upEdgePts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_upEdgePts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_top < a_line_upEdgePts[m].edgeId)
                     *maxEdgeId_top = a_line_upEdgePts[m].edgeId;
@@ -1023,7 +1023,7 @@ if (x == 34)
                 topContour.push_back(_line_upContours);
             }
 
-            for (int m = 0, m_max = a_line_downEdgePts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_downEdgePts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_btm < a_line_downEdgePts[m].edgeId)
                     *maxEdgeId_btm = a_line_downEdgePts[m].edgeId;
@@ -1083,7 +1083,7 @@ if (y == 380)
             break;
         else
         {
-            for (int m = 0, m_max = a_line_leftPts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_leftPts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_left < a_line_leftPts[m].edgeId)
                     *maxEdgeId_left = a_line_leftPts[m].edgeId;
@@ -1093,7 +1093,7 @@ if (y == 380)
                 SSG_lineConotours _line_leftContours = { y, a_line_leftPts };
                 leftContour.insert(leftContour.begin(), _line_leftContours);
             }
-            for (int m = 0, m_max = a_line_rightPts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_rightPts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_right < a_line_rightPts[m].edgeId)
                     *maxEdgeId_right = a_line_rightPts[m].edgeId;
@@ -1149,7 +1149,7 @@ if (y == 380)
             break;
         else
         {
-            for (int m = 0, m_max = a_line_leftPts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_leftPts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_left < a_line_leftPts[m].edgeId)
                     *maxEdgeId_left = a_line_leftPts[m].edgeId;
@@ -1159,7 +1159,7 @@ if (y == 380)
                 SSG_lineConotours _line_leftContours = { y, a_line_leftPts };
                 leftContour.push_back( _line_leftContours);
             }
-            for (int m = 0, m_max = a_line_rightPts.size(); m < m_max; m++)
+            for (int m = 0, m_max = (int)a_line_rightPts.size(); m < m_max; m++)
             {
                 if (*maxEdgeId_right < a_line_rightPts[m].edgeId)
                     *maxEdgeId_right = a_line_rightPts[m].edgeId;
@@ -1179,11 +1179,11 @@ float EDistance(int x1, int y1, int x2, int y2)
 }
 float MDistance(int x1, int y1, int x2, int y2)
 {
-    return abs(x1 - x2) + abs(y1 - y2);
+    return (float)abs(x1 - x2) + (float)abs(y1 - y2);
 }
 float CDistance(int x1, int y1, int x2, int y2)
 {
-    return std::max(abs(x1 - x2), abs(y1 - y2));
+    return std::max((float)abs(x1 - x2), (float)abs(y1 - y2));
 }
 float Distance(int x1, int y1, int x2, int y2, int type)
 {
@@ -1195,7 +1195,7 @@ float Distance(int x1, int y1, int x2, int y2, int type)
     {
         return MDistance(x1, y1, x2, y2);
     }
-    else if (type == 2)
+    else //if (type == 2)
     {
         return CDistance(x1, y1, x2, y2);
     }