Skip to content

Commit

Permalink
fix code by run-clang-tidy -fix
Browse files Browse the repository at this point in the history
  • Loading branch information
@k-okada
k-okada committed Apr 22, 2019
1 parent a8ce75e commit 4c4caef
Show file tree
Hide file tree
Showing 29 changed files with 367 additions and 370 deletions.
5 changes: 5 additions & 0 deletions include/opencv_apps/nodelet.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,11 @@
#include <boost/thread.hpp>
#include <image_transport/image_transport.h>

// https://stackoverflow.com/questions/10496824/how-to-define-nullptr-for-supporting-both-c03-and-c11
#if !defined(nullptr)
#define nullptr NULL
#endif

namespace opencv_apps
{
/** @brief
Expand Down
28 changes: 14 additions & 14 deletions src/nodelet/adding_images_nodelet.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -101,15 +101,15 @@ class AddingImagesNodelet : public opencv_apps::Nodelet
void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg1, const sensor_msgs::ImageConstPtr& msg2,
const sensor_msgs::CameraInfoConstPtr& cam_info)
{
do_work(msg1, msg2, cam_info->header.frame_id);
doWork(msg1, msg2, cam_info->header.frame_id);
}

void imageCallback(const sensor_msgs::ImageConstPtr& msg1, const sensor_msgs::ImageConstPtr& msg2)
{
do_work(msg1, msg2, msg1->header.frame_id);
doWork(msg1, msg2, msg1->header.frame_id);
}

void subscribe()
void subscribe() override
{
NODELET_DEBUG("Subscribing to image topic.");
sub_image1_.subscribe(*it_, "image1", 3);
Expand Down Expand Up @@ -148,7 +148,7 @@ class AddingImagesNodelet : public opencv_apps::Nodelet
}
}

void unsubscribe()
void unsubscribe() override
{
NODELET_DEBUG("Unsubscribing from image topic.");
sub_image1_.unsubscribe();
Expand All @@ -173,8 +173,8 @@ class AddingImagesNodelet : public opencv_apps::Nodelet
gamma_ = config.gamma;
}

void do_work(const sensor_msgs::Image::ConstPtr& image_msg1, const sensor_msgs::Image::ConstPtr& image_msg2,
const std::string input_frame_from_msg)
void doWork(const sensor_msgs::Image::ConstPtr& image_msg1, const sensor_msgs::Image::ConstPtr& image_msg2,
const std::string& input_frame_from_msg)
{
boost::mutex::scoped_lock lock(mutex_);
// Work on the image.
Expand All @@ -195,14 +195,14 @@ class AddingImagesNodelet : public opencv_apps::Nodelet
int new_rows = std::max(image1.rows, image2.rows);
int new_cols = std::max(image1.cols, image2.cols);
// if ( new_rows != image1.rows || new_cols != image1.cols ) {
cv::Mat image1_ = cv::Mat(new_rows, new_cols, image1.type());
image1.copyTo(image1_(cv::Rect(0, 0, image1.cols, image1.rows)));
image1 = image1_.clone(); // need clone becuase toCvShare??
cv::Mat image1 = cv::Mat(new_rows, new_cols, image1.type());
image1.copyTo(image1(cv::Rect(0, 0, image1.cols, image1.rows)));
image1 = image1.clone(); // need clone becuase toCvShare??

// if ( new_rows != image2.rows || new_cols != image2.cols ) {
cv::Mat image2_ = cv::Mat(new_rows, new_cols, image2.type());
image2.copyTo(image2_(cv::Rect(0, 0, image2.cols, image2.rows)));
image2 = image2_.clone();
cv::Mat image2 = cv::Mat(new_rows, new_cols, image2.type());
image2.copyTo(image2(cv::Rect(0, 0, image2.cols, image2.rows)));
image2 = image2.clone();
}
cv::addWeighted(image1, alpha_, image2, beta_, gamma_, result_image);
//-- Show what you got
Expand Down Expand Up @@ -241,7 +241,7 @@ class AddingImagesNodelet : public opencv_apps::Nodelet
}

public:
virtual void onInit()
void onInit() override
{
Nodelet::onInit();
it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
Expand Down Expand Up @@ -275,7 +275,7 @@ namespace adding_images
class AddingImagesNodelet : public opencv_apps::AddingImagesNodelet
{
public:
virtual void onInit()
void onInit() override
{
ROS_WARN("DeprecationWarning: Nodelet adding_images/adding_images is deprecated, "
"and renamed to opencv_apps/adding_images.");
Expand Down
52 changes: 26 additions & 26 deletions src/nodelet/camshift_nodelet.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
cv::Mat hist, histimg;
// cv::Mat hsv;

static void onMouse(int event, int x, int y, int, void*)
static void onMouse(int event, int x, int y, int /*unused*/, void* /*unused*/)
{
on_mouse_update_ = true;
on_mouse_event_ = event;
Expand All @@ -124,20 +124,20 @@ class CamShiftNodelet : public opencv_apps::Nodelet

void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
{
do_work(msg, cam_info->header.frame_id);
doWork(msg, cam_info->header.frame_id);
}

void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
do_work(msg, msg->header.frame_id);
doWork(msg, msg->header.frame_id);
}

static void trackbarCallback(int, void*)
static void trackbarCallback(int /*unused*/, void* /*unused*/)
{
need_config_update_ = true;
}

void do_work(const sensor_msgs::ImageConstPtr& msg, const std::string input_frame_from_msg)
void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
{
// Work on the image.
try
Expand All @@ -158,7 +158,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet

cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);

cv::setMouseCallback(window_name_, onMouse, 0);
cv::setMouseCallback(window_name_, onMouse, nullptr);
cv::createTrackbar("Vmin", window_name_, &vmin_, 256, trackbarCallback);
cv::createTrackbar("Vmax", window_name_, &vmax_, 256, trackbarCallback);
cv::createTrackbar("Smin", window_name_, &smin_, 256, trackbarCallback);
Expand Down Expand Up @@ -212,17 +212,17 @@ class CamShiftNodelet : public opencv_apps::Nodelet

if (trackObject)
{
int _vmin = vmin_, _vmax = vmax_;
int vmin = vmin_, vmax = vmax_;

cv::inRange(hsv, cv::Scalar(0, smin_, MIN(_vmin, _vmax)), cv::Scalar(180, 256, MAX(_vmin, _vmax)), mask);
cv::inRange(hsv, cv::Scalar(0, smin_, MIN(vmin, vmax)), cv::Scalar(180, 256, MAX(vmin, vmax)), mask);
int ch[] = { 0, 0 };
hue.create(hsv.size(), hsv.depth());
cv::mixChannels(&hsv, 1, &hue, 1, ch, 1);

if (trackObject < 0)
{
cv::Mat roi(hue, selection), maskroi(mask, selection);
cv::calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
cv::calcHist(&roi, 1, nullptr, maskroi, hist, 1, &hsize, &phranges);
cv::normalize(hist, hist, 0, 255, cv::NORM_MINMAX);
std::vector<float> hist_value;
hist_value.resize(hsize);
Expand All @@ -236,7 +236,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
trackObject = 1;

histimg = cv::Scalar::all(0);
int binW = histimg.cols / hsize;
int bin_w = histimg.cols / hsize;
cv::Mat buf(1, hsize, CV_8UC3);
for (int i = 0; i < hsize; i++)
buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i * 180. / hsize), 255, 255);
Expand All @@ -245,14 +245,14 @@ class CamShiftNodelet : public opencv_apps::Nodelet
for (int i = 0; i < hsize; i++)
{
int val = cv::saturate_cast<int>(hist.at<float>(i) * histimg.rows / 255);
cv::rectangle(histimg, cv::Point(i * binW, histimg.rows), cv::Point((i + 1) * binW, histimg.rows - val),
cv::rectangle(histimg, cv::Point(i * bin_w, histimg.rows), cv::Point((i + 1) * bin_w, histimg.rows - val),
cv::Scalar(buf.at<cv::Vec3b>(i)), -1, 8);
}
}

cv::calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
cv::calcBackProject(&hue, 1, nullptr, hist, backproj, &phranges);
backproj &= mask;
cv::RotatedRect trackBox = cv::CamShift(
cv::RotatedRect track_box = cv::CamShift(
backproj, trackWindow, cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 10, 1));
if (trackWindow.area() <= 1)
{
Expand All @@ -265,18 +265,18 @@ class CamShiftNodelet : public opencv_apps::Nodelet
if (backprojMode)
cv::cvtColor(backproj, frame, cv::COLOR_GRAY2BGR);
#ifndef CV_VERSION_EPOCH
cv::ellipse(frame, trackBox, cv::Scalar(0, 0, 255), 3, cv::LINE_AA);
cv::ellipse(frame, track_box, cv::Scalar(0, 0, 255), 3, cv::LINE_AA);
#else
cv::ellipse(frame, trackBox, cv::Scalar(0, 0, 255), 3, CV_AA);
cv::ellipse(frame, track_box, cv::Scalar(0, 0, 255), 3, CV_AA);
#endif

rect_msg.rect.angle = trackBox.angle;
rect_msg.rect.angle = track_box.angle;
opencv_apps::Point2D point_msg;
opencv_apps::Size size_msg;
point_msg.x = trackBox.center.x;
point_msg.y = trackBox.center.y;
size_msg.width = trackBox.size.width;
size_msg.height = trackBox.size.height;
point_msg.x = track_box.center.x;
point_msg.y = track_box.center.y;
size_msg.width = track_box.size.width;
size_msg.height = track_box.size.height;
rect_msg.rect.center = point_msg;
rect_msg.rect.size = size_msg;
}
Expand Down Expand Up @@ -338,7 +338,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
prev_stamp_ = msg->header.stamp;
}

void subscribe()
void subscribe() override
{
NODELET_DEBUG("Subscribing to image topic.");
if (config_.use_camera_info)
Expand All @@ -347,15 +347,15 @@ class CamShiftNodelet : public opencv_apps::Nodelet
img_sub_ = it_->subscribe("image", queue_size_, &CamShiftNodelet::imageCallback, this);
}

void unsubscribe()
void unsubscribe() override
{
NODELET_DEBUG("Unsubscribing from image topic.");
img_sub_.shutdown();
cam_sub_.shutdown();
}

public:
virtual void onInit()
void onInit() override
{
Nodelet::onInit();
it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));
Expand Down Expand Up @@ -416,7 +416,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
trackWindow = cv::Rect(0, 0, 640, 480); //

histimg = cv::Scalar::all(0);
int binW = histimg.cols / hsize;
int bin_w = histimg.cols / hsize;
cv::Mat buf(1, hsize, CV_8UC3);
for (int i = 0; i < hsize; i++)
buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i * 180. / hsize), 255, 255);
Expand All @@ -425,7 +425,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
for (int i = 0; i < hsize; i++)
{
int val = cv::saturate_cast<int>(hist.at<float>(i) * histimg.rows / 255);
cv::rectangle(histimg, cv::Point(i * binW, histimg.rows), cv::Point((i + 1) * binW, histimg.rows - val),
cv::rectangle(histimg, cv::Point(i * bin_w, histimg.rows), cv::Point((i + 1) * bin_w, histimg.rows - val),
cv::Scalar(buf.at<cv::Vec3b>(i)), -1, 8);
}
}
Expand All @@ -444,7 +444,7 @@ namespace camshift
class CamShiftNodelet : public opencv_apps::CamShiftNodelet
{
public:
virtual void onInit()
void onInit() override
{
ROS_WARN("DeprecationWarning: Nodelet camshift/camshift is deprecated, "
"and renamed to opencv_apps/camshift.");
Expand Down
Loading

0 comments on commit 4c4caef

Please sign in to comment.