linted files and changed templates

uf-mil · Aug 1, 2022 · 08bfe3f · 08bfe3f
1 parent 17b6af9
commit 08bfe3f
Show file tree

Hide file tree

Showing 3 changed files with 31 additions and 35 deletions.
diff --git a/mil_common/utils/mil_tools/include/mil_tools/image_publisher.hpp b/mil_common/utils/mil_tools/include/mil_tools/image_publisher.hpp
@@ -1,14 +1,15 @@
-#include <ros/ros.h>
+#include <cv_bridge/cv_bridge.h>
 #include <image_transport/image_transport.h>
+#include <ros/ros.h>
 #include <opencv2/highgui/highgui.hpp>
-#include <cv_bridge/cv_bridge.h>
 
 class ImagePublisher
 {
- public:
-  ImagePublisher(const std::string & topic, const std::string &encoding = "bgr8",int queue_size = 1);
+public:
+  ImagePublisher(const std::string& topic, const std::string& encoding = "bgr8", int queue_size = 1);
   void publish(cv::Mat& image_arg);
- private:
+
+private:
   std::string encoding_;
   image_transport::Publisher pub_;
   ros::NodeHandle nh_;

diff --git a/mil_common/utils/mil_tools/include/mil_tools/image_subscriber.hpp b/mil_common/utils/mil_tools/include/mil_tools/image_subscriber.hpp
@@ -1,38 +1,34 @@
 #ifndef IMAGE_SUBSCRIBER_H_
 #define IMAGE_SUBSCRIBER_H_
 
-#include <type_traits>
-#include <functional>
-#include <opencv2/opencv.hpp>
 #include <cv_bridge/cv_bridge.h>
-#include <sensor_msgs/Image.h>
-#include <boost/optional.hpp>
+#include <image_geometry/pinhole_camera_model.h>
+#include <image_transport/image_transport.h>
+#include <ros/ros.h>
 #include <sensor_msgs/CameraInfo.h>
+#include <sensor_msgs/Image.h>
 #include <std_msgs/Time.h>
-#include <ros/ros.h>
-#include <image_transport/image_transport.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <boost/optional.hpp>
+#include <functional>
+#include <opencv2/opencv.hpp>
+#include <type_traits>
 
-template <typename T = void>
 class ImageSubscriber
 {
- public:
-  template <typename = typename std::enable_if<std::is_same<void, T>::value == false>>
-  ImageSubscriber(const std::string& topic, std::function<void(T*, cv::Mat&)>& func, T* a,
-                  const std::string& encoding = "bgr8", int queue_size = 1) : encoding_(encoding),
-                                                                              queue_size_(queue_size),
-                                                                              it_(nh_)
+public:
+  template <typename T>
+  ImageSubscriber(const std::string& topic, void (T::*func)(cv::Mat&), T* a, const std::string& encoding = "bgr8",
+                  int queue_size = 1)
+    : encoding_(encoding), queue_size_(queue_size), it_(nh_)
   {
     image_subscriber_ = it_.subscribe(topic, queue_size, &ImageSubscriber::imageCallback, this);
     function_ = std::bind(func, a, std::placeholders::_1);
     camera_info_sub_ = nh_.subscribe(getInfoTopic(topic), queue_size, &ImageSubscriber::infoCallback, this);
   }
 
-  template <typename = typename std::enable_if<std::is_same<void, T>::value>>
-  ImageSubscriber(const std::string& topic, std::function<void(cv::Mat&)>& func,
-                  const std::string& encoding = "bgr8", int queue_size = 1) : encoding_(encoding),
-                                                                              queue_size_(queue_size),
-                                                                              it_(nh_)
+  ImageSubscriber(const std::string& topic, void (*func)(cv::Mat&), const std::string& encoding = "bgr8",
+                  int queue_size = 1)
+    : encoding_(encoding), queue_size_(queue_size), it_(nh_)
   {
     image_subscriber_ = it_.subscribe(topic, queue_size, &ImageSubscriber::imageCallback, this);
     function_ = func;
@@ -42,7 +38,7 @@ class ImageSubscriber
   std::string getInfoTopic(const std::string& input)
   {
     int location = input.rfind('/');
-    if(location == input.length() - 1)
+    if (location == input.length() - 1)
       location = input.rfind('/', input.length() - 2);
     return input.substr(0, location - 1) + "/camera_info";
   }
@@ -55,9 +51,9 @@ class ImageSubscriber
     time.sleep();
     auto start_time = ros::Time::now();
 
-    while(ros::Time::now() - start_time < time && ros::ok())
+    while (ros::Time::now() - start_time < time && ros::ok())
     {
-      if(camera_info_.has_value())
+      if (camera_info_.has_value())
       {
         ROS_INFO("Camera info found!");
         return camera_info_.get();
@@ -72,7 +68,7 @@ class ImageSubscriber
   bool waitForCameraModel(image_geometry::PinholeCameraModel& pinhole_camera, unsigned int timeout = 10)
   {
     auto msg = waitForCameraInfo(timeout);
-    if(!msg)
+    if (!msg)
       return false;
     pinhole_camera.fromCameraInfo(msg);
     return true;
@@ -91,7 +87,7 @@ class ImageSubscriber
       last_image_time_ = image.header.stamp;
       function_(cv_bridge::toCvCopy(image, encoding_)->image);
     }
-    catch(cv_bridge::Exception& e)
+    catch (cv_bridge::Exception& e)
     {
       ROS_ERROR("Could not convert from '%s' to '%s'.", image->encoding, encoding_);
     }
@@ -101,7 +97,8 @@ class ImageSubscriber
   {
     return camera_info_;
   }
- private:
+
+private:
   std::string encoding_;
   int queue_size_;
 
@@ -115,4 +112,4 @@ class ImageSubscriber
   boost::optional<sensor_msgs::CameraInfo> camera_info_;
   boost::optional<std_msgs::Time> last_image_time_;
 };
-#endif // IMAGE_SUBSCRIBER_H_
+#endif  // IMAGE_SUBSCRIBER_H_
diff --git a/mil_common/utils/mil_tools/src/mil_tools/image_publisher.cpp b/mil_common/utils/mil_tools/src/mil_tools/image_publisher.cpp
@@ -1,7 +1,6 @@
 #include <mil_tools/image_publisher.hpp>
 
-ImagePublisher::ImagePublisher(const std::string & topic, const std::string &encoding,int queue_size) :
-    it_(nh_)
+ImagePublisher::ImagePublisher(const std::string& topic, const std::string& encoding, int queue_size) : it_(nh_)
 {
   this->encoding_ = encoding;
   pub_ = it_.advertise(topic, queue_size);
@@ -13,4 +12,3 @@ void ImagePublisher::publish(cv::Mat& image_arg)
   sensor_msgs::ImagePtr msg = cv_bridge::CvImage(header, encoding_, image_arg).toImageMsg();
   pub_.publish(msg);
 }
-