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Use C++17 if available, and boost::placeholders::_1/_2/_3 instead of deprecated _1/_2/_3

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This commit is contained in:
Lucas Walter 2022-05-09 07:31:37 -07:00
parent f7c38f91d0
commit 270e8581b9
3 changed files with 10 additions and 4 deletions
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5
CMakeLists.txt
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@ -88,9 +88,12 @@ IF(NOT MSVC)
IF( NOT CMAKE_CXX_STANDARD AND OpenCV_VERSION_MAJOR EQUAL 4) IF( NOT CMAKE_CXX_STANDARD AND OpenCV_VERSION_MAJOR EQUAL 4)
#Newest versions require std11 #Newest versions require std11
include(CheckCXXCompilerFlag) include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11) IF(COMPILER_SUPPORTS_CXX17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
ELSEIF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X) ELSEIF(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

6
src/ros/CameraROS.cpp
View File

@ -74,12 +74,14 @@ CameraROS::CameraROS(bool subscribeDepth, QObject * parent) :
if(approxSync) if(approxSync)
{ {
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_); approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
approxSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this, _1, _2, _3)); approxSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this,
boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
} }
else else
{ {
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_); exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
exactSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this, _1, _2, _3)); exactSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this,
boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
} }
} }
} }

3
src/ros/print_objects_detected_node.cpp
View File

@ -155,7 +155,8 @@ int main(int argc, char** argv)
message_filters::Subscriber<find_object_2d::ObjectsStamped> objectsSub; message_filters::Subscriber<find_object_2d::ObjectsStamped> objectsSub;
objectsSub.subscribe(nh, "objectsStamped", 1); objectsSub.subscribe(nh, "objectsStamped", 1);
message_filters::Synchronizer<MyExactSyncPolicy> exactSync(MyExactSyncPolicy(10), imageSub, objectsSub); message_filters::Synchronizer<MyExactSyncPolicy> exactSync(MyExactSyncPolicy(10), imageSub, objectsSub);
exactSync.registerCallback(boost::bind(&imageObjectsDetectedCallback, _1, _2)); exactSync.registerCallback(boost::bind(&imageObjectsDetectedCallback,
boost::placeholders::_1, boost::placeholders::_2));
imagePub = it.advertise("image_with_objects", 1); imagePub = it.advertise("image_with_objects", 1);