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[ROS-O] patches to build on modern systems #80

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[ROS-O] patches to build on modern systems #80

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e13ccd4
add boost::placeholders::
v4hn Feb 11, 2023
8eba74d
drop all throw declarations
v4hn Feb 11, 2023
3796be6
drop implicitly included use of boost _1
v4hn Aug 14, 2024
1dae828
avoid "register" keyword
v4hn Aug 14, 2024
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6 changes: 3 additions & 3 deletions openni_camera/include/openni_camera/openni_depth_image.h
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Expand Up @@ -59,9 +59,9 @@ class DepthImage
inline virtual ~DepthImage () throw ();

inline const xn::DepthMetaData& getDepthMetaData () const throw ();
void fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const throw (OpenNIException);
void fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const throw (OpenNIException);
void fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const throw (OpenNIException);
void fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const ;
void fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const ;
void fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const ;

inline float getBaseline () const throw ();
inline float getFocalLength () const throw ();
Expand Down
76 changes: 38 additions & 38 deletions openni_camera/include/openni_camera/openni_device.h
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Expand Up @@ -75,35 +75,35 @@ class OpenNIDevice : public boost::noncopyable
virtual ~OpenNIDevice () throw ();
void shutdown ();

virtual bool findCompatibleImageMode (const XnMapOutputMode& output_mode, XnMapOutputMode& mode ) const throw (OpenNIException);
virtual bool findCompatibleDepthMode (const XnMapOutputMode& output_mode, XnMapOutputMode& mode ) const throw (OpenNIException);
virtual bool findCompatibleImageMode (const XnMapOutputMode& output_mode, XnMapOutputMode& mode ) const ;
virtual bool findCompatibleDepthMode (const XnMapOutputMode& output_mode, XnMapOutputMode& mode ) const ;

virtual bool isImageModeSupported (const XnMapOutputMode& output_mode) const throw (OpenNIException);
virtual bool isDepthModeSupported (const XnMapOutputMode& output_mode) const throw (OpenNIException);
virtual bool isImageModeSupported (const XnMapOutputMode& output_mode) const ;
virtual bool isDepthModeSupported (const XnMapOutputMode& output_mode) const ;

virtual const XnMapOutputMode& getDefaultImageMode () const throw ();
virtual const XnMapOutputMode& getDefaultDepthMode () const throw ();
virtual const XnMapOutputMode& getDefaultIRMode () const throw ();

virtual void setImageOutputMode (const XnMapOutputMode& output_mode) throw (OpenNIException);
virtual void setDepthOutputMode (const XnMapOutputMode& output_mode) throw (OpenNIException);
virtual void setIROutputMode (const XnMapOutputMode& output_mode) throw (OpenNIException);
virtual void setImageOutputMode (const XnMapOutputMode& output_mode) ;
virtual void setDepthOutputMode (const XnMapOutputMode& output_mode) ;
virtual void setIROutputMode (const XnMapOutputMode& output_mode) ;

XnMapOutputMode getImageOutputMode () const throw (OpenNIException);
XnMapOutputMode getDepthOutputMode () const throw (OpenNIException);
XnMapOutputMode getIROutputMode () const throw (OpenNIException);
XnMapOutputMode getImageOutputMode () const ;
XnMapOutputMode getDepthOutputMode () const ;
XnMapOutputMode getIROutputMode () const ;

virtual void setDepthRegistration (bool on_off) throw (OpenNIException);
bool isDepthRegistered () const throw (OpenNIException);
virtual bool isDepthRegistrationSupported () const throw (OpenNIException);
virtual void setDepthRegistration (bool on_off) ;
bool isDepthRegistered () const ;
virtual bool isDepthRegistrationSupported () const ;

virtual void setSynchronization (bool on_off) throw (OpenNIException);
virtual bool isSynchronized () const throw (OpenNIException);
virtual void setSynchronization (bool on_off) ;
virtual bool isSynchronized () const ;
virtual bool isSynchronizationSupported () const throw ();

// just supported by primesense -> virtual
virtual bool isDepthCropped () const throw (OpenNIException);
virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException);
virtual bool isDepthCropped () const ;
virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) ;
virtual bool isDepthCroppingSupported () const throw ();

/** \brief returns the focal length for the color camera in pixels. The pixels are assumed to be square.
Expand All @@ -117,22 +117,22 @@ class OpenNIDevice : public boost::noncopyable
inline float getDepthFocalLength (int output_x_resolution = 0) const throw ();
inline float getBaseline () const throw ();

virtual void startImageStream () throw (OpenNIException);
virtual void stopImageStream () throw (OpenNIException);
virtual void startImageStream () ;
virtual void stopImageStream () ;

virtual void startDepthStream () throw (OpenNIException);
virtual void stopDepthStream () throw (OpenNIException);
virtual void startDepthStream () ;
virtual void stopDepthStream () ;

virtual void startIRStream () throw (OpenNIException);
virtual void stopIRStream () throw (OpenNIException);
virtual void startIRStream () ;
virtual void stopIRStream () ;

bool hasImageStream () const throw ();
bool hasDepthStream () const throw ();
bool hasIRStream () const throw ();

virtual bool isImageStreamRunning () const throw (OpenNIException);
virtual bool isDepthStreamRunning () const throw (OpenNIException);
virtual bool isIRStreamRunning () const throw (OpenNIException);
virtual bool isImageStreamRunning () const ;
virtual bool isDepthStreamRunning () const ;
virtual bool isIRStreamRunning () const ;

CallbackHandle registerImageCallback (const ImageCallbackFunction& callback, void* cookie = NULL) throw ();
template<typename T> CallbackHandle registerImageCallback (void (T::*callback)(boost::shared_ptr<Image>, void* cookie), T& instance, void* cookie = NULL) throw ();
Expand Down Expand Up @@ -164,26 +164,26 @@ class OpenNIDevice : public boost::noncopyable
typedef boost::function<void(boost::shared_ptr<DepthImage>) > ActualDepthImageCallbackFunction;
typedef boost::function<void(boost::shared_ptr<IRImage>) > ActualIRImageCallbackFunction;

OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
OpenNIDevice (xn::Context& context) throw (OpenNIException);
OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) ;
OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) ;
OpenNIDevice (xn::Context& context) ;
static void __stdcall NewDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
static void __stdcall NewImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
static void __stdcall NewIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();

// This is a workaround, since in the NewDepthDataAvailable function WaitAndUpdateData leads to a dead-lock behaviour
// and retrieving image data without WaitAndUpdateData leads to incomplete images!!!
void ImageDataThreadFunction () throw (OpenNIException);
void DepthDataThreadFunction () throw (OpenNIException);
void IRDataThreadFunction () throw (OpenNIException);
void ImageDataThreadFunction () ;
void DepthDataThreadFunction () ;
void IRDataThreadFunction () ;

virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw () = 0;

void setRegistration (bool on_off) throw (OpenNIException);
void setRegistration (bool on_off) ;
virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw () = 0;

virtual void enumAvailableModes () throw (OpenNIException);
void Init () throw (OpenNIException);
virtual void enumAvailableModes () ;
void Init () ;
// holds the callback functions together with custom data
// since same callback function can be registered multiple times with e.g. different custom data
// we use a map structure with a handle as the key
Expand Down Expand Up @@ -264,19 +264,19 @@ float OpenNIDevice::getBaseline () const throw ()

template<typename T> OpenNIDevice::CallbackHandle OpenNIDevice::registerImageCallback (void (T::*callback)(boost::shared_ptr<Image>, void* cookie), T& instance, void* custom_data) throw ()
{
image_callback_[image_callback_handle_counter_] = boost::bind (callback, boost::ref (instance), _1, custom_data);
image_callback_[image_callback_handle_counter_] = boost::bind (callback, boost::ref (instance), boost::placeholders::_1, custom_data);
return image_callback_handle_counter_++;
}

template<typename T> OpenNIDevice::CallbackHandle OpenNIDevice::registerDepthCallback (void (T::*callback)(boost::shared_ptr<DepthImage>, void* cookie), T& instance, void* custom_data) throw ()
{
depth_callback_[depth_callback_handle_counter_] = boost::bind ( callback, boost::ref (instance), _1, custom_data);
depth_callback_[depth_callback_handle_counter_] = boost::bind ( callback, boost::ref (instance), boost::placeholders::_1, custom_data);
return depth_callback_handle_counter_++;
}

template<typename T> OpenNIDevice::CallbackHandle OpenNIDevice::registerIRCallback (void (T::*callback)(boost::shared_ptr<IRImage>, void* cookie), T& instance, void* custom_data) throw ()
{
ir_callback_[ir_callback_handle_counter_] = boost::bind ( callback, boost::ref (instance), _1, custom_data);
ir_callback_[ir_callback_handle_counter_] = boost::bind ( callback, boost::ref (instance), boost::placeholders::_1, custom_data);
return ir_callback_handle_counter_++;
}

Expand Down
12 changes: 6 additions & 6 deletions openni_camera/include/openni_camera/openni_device_kinect.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,24 +54,24 @@ class DeviceKinect : public OpenNIDevice
{
friend class OpenNIDriver;
public:
DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
DeviceKinect (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) ;
virtual ~DeviceKinect () throw ();

inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ();
inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();

// these capabilities are not supported for kinect
virtual void setSynchronization (bool on_off) throw (OpenNIException);
virtual bool isSynchronized () const throw (OpenNIException);
virtual void setSynchronization (bool on_off) ;
virtual bool isSynchronized () const ;
virtual bool isSynchronizationSupported () const throw ();

virtual bool isDepthCropped () const throw (OpenNIException);
virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) throw (OpenNIException);
virtual bool isDepthCropped () const ;
virtual void setDepthCropping (unsigned x, unsigned y, unsigned width, unsigned height) ;
virtual bool isDepthCroppingSupported () const throw ();

protected:
virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
virtual void enumAvailableModes () throw (OpenNIException);
virtual void enumAvailableModes () ;
virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
ImageBayerGRBG::DebayeringMethod debayering_method_;
};
Expand Down
26 changes: 13 additions & 13 deletions openni_camera/include/openni_camera/openni_device_oni.h
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Expand Up @@ -54,30 +54,30 @@ class DeviceONI : public OpenNIDevice
{
friend class OpenNIDriver;
public:
DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true) throw (OpenNIException);
DeviceONI (xn::Context& context, const std::string& file_name, bool repeat = false, bool streaming = true) ;
virtual ~DeviceONI () throw ();

virtual void startImageStream () throw (OpenNIException);
virtual void stopImageStream () throw (OpenNIException);
virtual void startImageStream () ;
virtual void stopImageStream () ;

virtual void startDepthStream () throw (OpenNIException);
virtual void stopDepthStream () throw (OpenNIException);
virtual void startDepthStream () ;
virtual void stopDepthStream () ;

virtual void startIRStream () throw (OpenNIException);
virtual void stopIRStream () throw (OpenNIException);
virtual void startIRStream () ;
virtual void stopIRStream () ;

virtual bool isImageStreamRunning () const throw (OpenNIException);
virtual bool isDepthStreamRunning () const throw (OpenNIException);
virtual bool isIRStreamRunning () const throw (OpenNIException);
virtual bool isImageStreamRunning () const ;
virtual bool isDepthStreamRunning () const ;
virtual bool isIRStreamRunning () const ;

virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();

bool trigger () throw (OpenNIException);
bool isStreaming () const throw (OpenNIException);
bool trigger () ;
bool isStreaming () const ;
protected:
virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();

void PlayerThreadFunction () throw (OpenNIException);
void PlayerThreadFunction () ;
static void __stdcall NewONIDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
static void __stdcall NewONIImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
static void __stdcall NewONIIRDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
Expand Down
10 changes: 5 additions & 5 deletions openni_camera/include/openni_camera/openni_device_primesense.h
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Expand Up @@ -52,17 +52,17 @@ class DevicePrimesense : public OpenNIDevice
{
friend class OpenNIDriver;
public:
DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
DevicePrimesense (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) ;
virtual ~DevicePrimesense () throw ();
//virtual void setImageOutputMode (const XnMapOutputMode& output_mode) throw (OpenNIException);
//virtual void setImageOutputMode (const XnMapOutputMode& output_mode) ;

protected:
virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
virtual void enumAvailableModes () throw (OpenNIException);
virtual void enumAvailableModes () ;
virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();

virtual void startImageStream () throw (OpenNIException);
virtual void startDepthStream () throw (OpenNIException);
virtual void startImageStream () ;
virtual void startDepthStream () ;
};
} // namespace

Expand Down
8 changes: 4 additions & 4 deletions openni_camera/include/openni_camera/openni_device_xtion.h
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Expand Up @@ -53,16 +53,16 @@ class DeviceXtionPro : public OpenNIDevice
{
friend class OpenNIDriver;
public:
DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) throw (OpenNIException);
DeviceXtionPro (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node) ;
virtual ~DeviceXtionPro () throw ();
//virtual void setImageOutputMode (const XnMapOutputMode& output_mode) throw (OpenNIException);
//virtual void setImageOutputMode (const XnMapOutputMode& output_mode) ;

protected:
virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
virtual void enumAvailableModes () throw (OpenNIException);
virtual void enumAvailableModes () ;
virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();

virtual void startDepthStream () throw (OpenNIException);
virtual void startDepthStream () ;
};
} // namespace

Expand Down
18 changes: 9 additions & 9 deletions openni_camera/include/openni_camera/openni_driver.h
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Expand Up @@ -60,15 +60,15 @@ class OpenNIDriver
public:
~OpenNIDriver () throw ();

inline static OpenNIDriver& getInstance () throw (OpenNIException);
inline static OpenNIDriver& getInstance () ;
unsigned updateDeviceList () throw ();
inline unsigned getNumberDevices () const throw ();

boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const throw (OpenNIException);
boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const throw (OpenNIException);
boost::shared_ptr<OpenNIDevice> createVirtualDevice (const std::string& path, bool repeat, bool stream) const ;
boost::shared_ptr<OpenNIDevice> getDeviceByIndex (unsigned index) const ;
#ifndef _WIN32
boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const throw (OpenNIException);
boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const throw (OpenNIException);
boost::shared_ptr<OpenNIDevice> getDeviceBySerialNumber (const std::string& serial_number) const ;
boost::shared_ptr<OpenNIDevice> getDeviceByAddress (unsigned char bus, unsigned char address) const ;
#endif

const char* getSerialNumber (unsigned index) const throw ();
Expand All @@ -84,7 +84,7 @@ class OpenNIDriver

void getPrimesenseSerial(xn::NodeInfo info, char* buffer, unsigned buf_size) const throw ();

void stopAll () throw (OpenNIException);
void stopAll () ;

static void getDeviceType (const std::string& connection_string, unsigned short& vendorId, unsigned short& productId);
protected:
Expand All @@ -100,8 +100,8 @@ class OpenNIDriver
boost::weak_ptr<OpenNIDevice> device;
};

OpenNIDriver () throw (OpenNIException);
boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const throw (OpenNIException);
OpenNIDriver () ;
boost::shared_ptr<OpenNIDevice> getDevice (unsigned index) const ;

#ifndef _WIN32
// workaround to get additional device nformation like serial number, vendor and product name, until Primesense fix this
Expand All @@ -116,7 +116,7 @@ class OpenNIDriver
std::map< std::string, unsigned > connection_string_map_;
};

OpenNIDriver& OpenNIDriver::getInstance () throw (OpenNIException)
OpenNIDriver& OpenNIDriver::getInstance ()
{
static OpenNIDriver driver;
return driver;
Expand Down
6 changes: 3 additions & 3 deletions openni_camera/include/openni_camera/openni_image.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,18 +69,18 @@ class Image
virtual bool isResizingSupported (unsigned input_width, unsigned input_height,
unsigned output_width, unsigned output_height) const = 0;
virtual void fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer,
unsigned rgb_line_step = 0) const throw (OpenNIException) = 0;
unsigned rgb_line_step = 0) const = 0;

virtual Encoding getEncoding () const = 0;

inline void
fillRaw (unsigned char* rgb_buffer) const throw (OpenNIException)
fillRaw (unsigned char* rgb_buffer) const
{
memcpy (rgb_buffer, image_md_->WritableData(), image_md_->DataSize ());
}

virtual void fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
unsigned gray_line_step = 0) const throw (OpenNIException) = 0;
unsigned gray_line_step = 0) const = 0;

inline unsigned getWidth () const throw ();
inline unsigned getHeight () const throw ();
Expand Down
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