Merge pull request PointCloudLibrary#3 from giacomodabisias/master

adds proper pcl code style
weberhen · Jan 13, 2016 · 4062982 · 4062982
2 parents ddaa59a + 28eaa65
commit 4062982
Show file tree

Hide file tree

Showing 3 changed files with 451 additions and 437 deletions.
diff --git a/io/include/pcl/io/k4w2_grabber.h b/io/include/pcl/io/k4w2_grabber.h
@@ -1,39 +1,39 @@
 /*
-* Software License Agreement (BSD License)
-*
-*  Point Cloud Library (PCL) - www.pointclouds.org
-*  Copyright (c) 2015-, Open Perception, Inc.
-*
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the copyright holder(s) nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-*/
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2015-, Open Perception, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
 
 #ifndef PCL_IO_FREENECT2_GRABBER_H
 #define PCL_IO_FREENECT2_GRABBER_H
@@ -55,83 +55,82 @@
 
 #include <limits>
 
-
 namespace pcl
 {
-    enum processor
-    {
-        CPU, OPENCL, OPENGL
-    };
-
-    class PCL_EXPORTS k4w2Grabber : public Grabber
-    {
-    public:
-        typedef
-            void (sig_cb_k4w2_point_cloud_rgb)
-            (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&);
-
-        k4w2Grabber(processor p = CPU, std::string serial = std::string());
-        virtual
-        ~k4w2Grabber() throw();
-
-        virtual bool
-        isRunning() const;
-
-        virtual void
-        start();
-
-        virtual void
-        stop();
-
-        virtual std::string
-        getName() const
-        {
-            return (std::string("K4W2Grabber"));
-        }
-
-        virtual std::string
-            getDeviceSerialNumber() const
-        {
-            return dev_->getSerialNumber();
-        }
-
-        virtual float
-            getFramesPerSecond() const;
-
-    private:
-        void
-        run();
-
-        void prepareMake3D(const libfreenect2::Freenect2Device::IrCameraParams & depth_p);
-
-        // Signals to indicate whether new clouds are available
-        boost::signals2::signal<sig_cb_k4w2_point_cloud_rgb>* point_cloud_rgb_signal_;
-
-        boost::thread thread_;
-
-        bool is_running_;
-
-        /// Indicates whether there are subscribers for PointXYZRGBA signal,
-        /// computed and stored on start()
-        bool need_xyzrgb_;
-
-        EventFrequency frequency_;
-        mutable boost::mutex fps_mutex_;
-
-        libfreenect2::Registration* registration_ = 0;
-
-        libfreenect2::Freenect2 freenect2_;
-        libfreenect2::Freenect2Device * dev_ = 0;
-        libfreenect2::SyncMultiFrameListener * listener_ = 0;
-        libfreenect2::PacketPipeline * pipeline_ = 0;
-        libfreenect2::FrameMap frames_;
-        libfreenect2::Frame undistorted_, registered_, big_mat_;
-        Eigen::Matrix<float,512,1> colmap_;
-        Eigen::Matrix<float,424,1> rowmap_;
-        std::string serial_;
-        int map_[512 * 424];
-        float qnan_;
-    };
+  enum processor
+  {
+    CPU, OPENCL, OPENGL
+  };
+
+class PCL_EXPORTS k4w2Grabber : public Grabber
+{
+  public:
+  typedef
+  void (sig_cb_k4w2_point_cloud_rgb)
+  (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&);
+
+  k4w2Grabber(processor p = CPU, std::string serial = std::string());
+  virtual
+  ~k4w2Grabber() throw();
+
+  virtual bool
+  isRunning() const;
+
+  virtual void
+  start();
+
+  virtual void
+  stop();
+
+  virtual std::string
+  getName() const
+  {
+    return (std::string("K4W2Grabber"));
+  }
+
+  virtual std::string
+  getDeviceSerialNumber() const
+  {
+    return dev_->getSerialNumber();
+  }
+
+  virtual float
+  getFramesPerSecond() const;
+
+  private:
+  void
+  run();
+
+  void prepareMake3D(const libfreenect2::Freenect2Device::IrCameraParams & depth_p);
+
+  // Signals to indicate whether new clouds are available
+  boost::signals2::signal<sig_cb_k4w2_point_cloud_rgb>* point_cloud_rgb_signal_;
+
+  boost::thread thread_;
+
+  bool is_running_;
+
+  /// Indicates whether there are subscribers for PointXYZRGBA signal,
+  /// computed and stored on start()
+  bool need_xyzrgb_;
+
+  EventFrequency frequency_;
+  mutable boost::mutex fps_mutex_;
+
+  libfreenect2::Registration* registration_ = 0;
+
+  libfreenect2::Freenect2 freenect2_;
+  libfreenect2::Freenect2Device * dev_ = 0;
+  libfreenect2::SyncMultiFrameListener * listener_ = 0;
+  libfreenect2::PacketPipeline * pipeline_ = 0;
+  libfreenect2::FrameMap frames_;
+  libfreenect2::Frame undistorted_, registered_, big_mat_;
+  Eigen::Matrix<float,512,1> colmap_;
+  Eigen::Matrix<float,424,1> rowmap_;
+  std::string serial_;
+  int map_[512 * 424];
+  float qnan_;
+};
 }
 
 #endif // PCL_IO_FREENECT2_GRABBER_H