From 78444fd2e1835646f45cf0e1f4346ee30a78c914 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 9 Jul 2020 09:58:16 +0300
Subject: [PATCH] Remove compiler warnings and fix compile error
---
CMakeLists.txt | 2 +-
applications/gui2/src/modules/calibration.cpp | 2 +-
applications/vision/src/main.cpp | 13 -------------
components/audio/src/software_decoder.cpp | 10 ++--------
components/audio/src/software_encoder.cpp | 10 ++--------
components/codecs/src/depth_convert.cu | 7 -------
components/codecs/src/nvidia_encoder.cpp | 3 ---
components/codecs/test/opencv_codec_unit.cpp | 1 -
components/common/cpp/test/msgpack_unit.cpp | 2 +-
.../rgbd-sources/include/ftl/rgbd/source.hpp | 17 +++++------------
components/rgbd-sources/src/source.cpp | 14 --------------
components/streams/src/sender.cpp | 11 ++---------
12 files changed, 14 insertions(+), 78 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 43b81fe4a..524bf2cfe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -394,7 +394,7 @@ if (WIN32) # TODO(nick) Should do based upon compiler (VS)
set(OS_LIBS "")
else()
add_definitions(-DUNIX)
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -fPIC -msse3 -Wall -Werror=unused-result")
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color -std=c++17 -fPIC -msse3 -Wall -Werror=unused-result")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG -pg")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -mfpmath=sse")
set(OS_LIBS "dl")
diff --git a/applications/gui2/src/modules/calibration.cpp b/applications/gui2/src/modules/calibration.cpp
index 4e6b340b2..37d643abc 100644
--- a/applications/gui2/src/modules/calibration.cpp
+++ b/applications/gui2/src/modules/calibration.cpp
@@ -245,7 +245,7 @@ void IntrinsicCalibration::onFrame(const ftl::data::FrameSetPtr& fs) {
future_ = ftl::pool.push( [fs, id = id_, channel = channel_,
&calib = calib_, &running = running_, &last = last_]
- (int id) {
+ (int thread_id) {
try {
auto gpu = (*fs)[id.source()].cast<ftl::rgbd::Frame>().get<cv::cuda::GpuMat>(channel);
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index d5233aa81..9f9b8d848 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -279,19 +279,6 @@ static void run(ftl::Configurable *root) {
delete net;
}
-static void threadSetCUDADevice() {
- // Ensure all threads have correct cuda device
- std::atomic<int> ijobs = 0;
- for (int i=0; i<ftl::pool.size(); ++i) {
- ftl::pool.push([&ijobs](int id) {
- ftl::cuda::setDevice();
- ++ijobs;
- while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
- });
- }
- while (ijobs < ftl::pool.size()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
-}
-
int main(int argc, char **argv) {
#ifdef HAVE_PYLON
Pylon::PylonAutoInitTerm autoInitTerm;
diff --git a/components/audio/src/software_decoder.cpp b/components/audio/src/software_decoder.cpp
index 1b7b5f9a8..44d4b0ce9 100644
--- a/components/audio/src/software_decoder.cpp
+++ b/components/audio/src/software_decoder.cpp
@@ -26,9 +26,8 @@ SoftwareDecoder::~SoftwareDecoder() {
bool SoftwareDecoder::_createOpus(const ftl::codecs::Packet &pkt) {
#ifdef HAVE_OPUS
bool stereo = pkt.flags & ftl::codecs::kFlagStereo;
- if (pkt.definition == cur_definition_ && stereo == cur_stereo_ && opus_decoder_) return true;
+ if (stereo == cur_stereo_ && opus_decoder_) return true;
- cur_definition_ = pkt.definition;
cur_stereo_ = stereo;
if (opus_decoder_) {
@@ -36,12 +35,7 @@ bool SoftwareDecoder::_createOpus(const ftl::codecs::Packet &pkt) {
opus_decoder_ = nullptr;
}
- int sample_rate;
- switch (pkt.definition) {
- case ftl::codecs::definition_t::hz48000 : sample_rate = 48000; break;
- case ftl::codecs::definition_t::hz44100 : sample_rate = 44100; break;
- default: return false;
- }
+ int sample_rate = 48000; // TODO: Allow it to be different
int errcode = 0;
int channels = (stereo) ? 2 : 1;
diff --git a/components/audio/src/software_encoder.cpp b/components/audio/src/software_encoder.cpp
index c3a24a508..f3622c5ec 100644
--- a/components/audio/src/software_encoder.cpp
+++ b/components/audio/src/software_encoder.cpp
@@ -44,9 +44,8 @@ bool SoftwareEncoder::encode(const std::vector<short> &in, ftl::codecs::Packet &
bool SoftwareEncoder::_createOpus(ftl::codecs::Packet &pkt) {
#ifdef HAVE_OPUS
bool stereo = pkt.flags & ftl::codecs::kFlagStereo;
- if (pkt.definition == cur_definition_ && stereo == cur_stereo_ && opus_encoder_) return true;
+ if (stereo == cur_stereo_ && opus_encoder_) return true;
- cur_definition_ = pkt.definition;
cur_stereo_ = stereo;
if (opus_encoder_) {
@@ -54,12 +53,7 @@ bool SoftwareEncoder::_createOpus(ftl::codecs::Packet &pkt) {
opus_encoder_ = nullptr;
}
- int sample_rate;
- switch (pkt.definition) {
- case ftl::codecs::definition_t::hz48000 : sample_rate = 48000; break;
- case ftl::codecs::definition_t::hz44100 : sample_rate = 44100; break;
- default: return false;
- }
+ int sample_rate = 48000; // TODO: Allow it to be different
int errcode = 0;
int channels = (stereo) ? 2 : 1;
diff --git a/components/codecs/src/depth_convert.cu b/components/codecs/src/depth_convert.cu
index 81dc7d3bb..d69ef3348 100644
--- a/components/codecs/src/depth_convert.cu
+++ b/components/codecs/src/depth_convert.cu
@@ -301,13 +301,7 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
if (x >= RADIUS && y >= RADIUS && x < vuya.cols-RADIUS-1 && y < vuya.rows-RADIUS-1) {
ushort4 in = vuya(y,x);
- bool isdiscon = false;
- //int minerr = 65000;
ushort best = in.z;
- //ushort miny = 65000;
-
- //float sumY = 0.0f;
- //float weights = 0.0f;
float mcost = 1.e10f;
// 1) In small radius, is there a discontinuity?
@@ -323,7 +317,6 @@ void ftl::cuda::vuya_to_depth(const cv::cuda::PtrStepSz<float> &depth, const cv:
ushort4 inn = vuya(y+v,x+u);
if (inn.w == 0) {
float err = fabsf(float(in.z) - float(inn.z));
- float dist = v*v + u*u;
float cost = err*err; //err*err*dist;
if (mcost > cost) {
mcost = cost;
diff --git a/components/codecs/src/nvidia_encoder.cpp b/components/codecs/src/nvidia_encoder.cpp
index 65fcc88cb..b3b022d2f 100644
--- a/components/codecs/src/nvidia_encoder.cpp
+++ b/components/codecs/src/nvidia_encoder.cpp
@@ -152,9 +152,6 @@ static bool validate(const cv::cuda::GpuMat &in, ftl::codecs::Packet &pkt) {
return false;
}
- auto width = in.cols;
- auto height = in.rows;
-
if (in.empty()) {
LOG(WARNING) << "No data";
return false;
diff --git a/components/codecs/test/opencv_codec_unit.cpp b/components/codecs/test/opencv_codec_unit.cpp
index cf03f71a2..43c94304f 100644
--- a/components/codecs/test/opencv_codec_unit.cpp
+++ b/components/codecs/test/opencv_codec_unit.cpp
@@ -90,7 +90,6 @@ TEST_CASE( "OpenCVDecoder::decode() - A colour test image no resolution change"
ftl::codecs::Packet pkt;
pkt.codec = codec_t::Any;
- pkt.definition = definition_t::Any;
pkt.bitrate = 255;
pkt.flags = 0;
pkt.frame_count = 1;
diff --git a/components/common/cpp/test/msgpack_unit.cpp b/components/common/cpp/test/msgpack_unit.cpp
index 940706125..953bac5c9 100644
--- a/components/common/cpp/test/msgpack_unit.cpp
+++ b/components/common/cpp/test/msgpack_unit.cpp
@@ -110,7 +110,7 @@ TEST_CASE( "msgpack cv::Mat" ) {
REQUIRE(A.type() == B.type());
REQUIRE(cv::countNonZero(A != B) == 0);
}
- catch (msgpack::type_error) {
+ catch (const msgpack::type_error &e) {
// if not supported, throws exception
}
}
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 1a1cb2a26..2f5f9d1ca 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -65,12 +65,12 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
/**
* Change the second channel source.
*/
- bool setChannel(ftl::codecs::Channel c);
+ [[deprecated]] bool setChannel(ftl::codecs::Channel c);
/**
* Get the channel allocated to the second source.
*/
- ftl::codecs::Channel getChannel() const { return channel_; }
+ [[deprecated]] ftl::codecs::Channel getChannel() const { return channel_; }
/**
* Perform the hardware or virtual frame grab operation. This should be
@@ -107,13 +107,13 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
/**
* Get the source's camera intrinsics.
*/
- const Camera ¶meters() const;
+ [[deprecated]] const Camera ¶meters() const;
/**
* Get camera intrinsics for another channel. For example the right camera
* in a stereo pair.
*/
- const Camera parameters(ftl::codecs::Channel) const;
+ [[deprecated]] const Camera parameters(ftl::codecs::Channel) const;
cv::Mat cameraMatrix() const;
@@ -122,14 +122,7 @@ class Source : public ftl::Configurable, public ftl::data::DiscreteSource {
* cameras this will move the camera, for physical cameras it is set by the
* registration process as it attempts to work out a cameras relative pose.
*/
- virtual void setPose(const Eigen::Matrix4d &pose);
-
- /**
- * Check what features this source has available.
- */
- [[deprecated]] bool hasCapabilities(capability_t);
-
- [[deprecated]] capability_t getCapabilities() const;
+ //[[deprecated]] virtual void setPose(const Eigen::Matrix4d &pose);
/**
* Force the internal implementation to be reconstructed.
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 536f0f9fb..8112eccfb 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -150,20 +150,6 @@ static ftl::rgbd::BaseSourceImpl *createImplementation(const std::string &uristr
return nullptr;
}
-void Source::setPose(const Eigen::Matrix4d &pose) {
- //pose_ = pose;
- if (impl_) impl_->setPose(pose);
-}
-
-bool Source::hasCapabilities(capability_t c) {
- return (getCapabilities() & c) == c;
-}
-
-capability_t Source::getCapabilities() const {
- if (impl_) return impl_->capabilities_;
- else return kCapMovable | kCapVideo | kCapStereo; // FIXME: Don't assume these
-}
-
void Source::reset() {
UNIQUE_LOCK(mutex_,lk);
channel_ = Channel::None;
diff --git a/components/streams/src/sender.cpp b/components/streams/src/sender.cpp
index bb81e5ad4..cab2cb37d 100644
--- a/components/streams/src/sender.cpp
+++ b/components/streams/src/sender.cpp
@@ -84,7 +84,7 @@ static void writeValue(std::vector<unsigned char> &data, T value) {
data.insert(data.end(), pvalue_start, pvalue_start+sizeof(T));
}
-static void mergeNALUnits(const std::list<ftl::codecs::Packet> &pkts, ftl::codecs::Packet &pkt) {
+/*static void mergeNALUnits(const std::list<ftl::codecs::Packet> &pkts, ftl::codecs::Packet &pkt) {
size_t size = 0;
for (auto i=pkts.begin(); i!=pkts.end(); ++i) size += (*i).data.size();
@@ -104,7 +104,7 @@ static void mergeNALUnits(const std::list<ftl::codecs::Packet> &pkts, ftl::codec
//LOG(INFO) << "NAL Count = " << (*i).data.size();
pkt.data.insert(pkt.data.end(), (*i).data.begin(), (*i).data.end());
}
-}
+}*/
void Sender::_sendPersistent(ftl::data::Frame &frame) {
auto *session = frame.parent();
@@ -256,8 +256,6 @@ void Sender::post(ftl::data::FrameSet &fs, ftl::codecs::Channel c, bool noencode
stream_->post(spkt, pkt);
}
- Channel sec_chan = Channel::Right;
-
if (needs_encoding) {
_encodeChannel(fs, c, do_iframe);
}
@@ -490,11 +488,6 @@ void Sender::_encodeAudioChannel(ftl::data::FrameSet &fs, Channel c, bool reset)
ftl::codecs::Packet pkt;
pkt.codec = ftl::codecs::codec_t::OPUS;
- //pkt.definition = ftl::codecs::definition_t::Any;
-
- // TODO: remove need for this
- pkt.definition = ftl::codecs::definition_t::hz48000;
-
pkt.frame_count = 1;
pkt.flags = (c == Channel::AudioStereo) ? ftl::codecs::kFlagStereo : 0;
pkt.bitrate = 180;
--
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