Merge pull request #120 from lucasw/boost_placeholders

Use C++17 if available, and boost::placeholders::_1/_2/_3 instead of deprecated _1/_2/_3
introlab · May 9, 2022 · 3dae099 · 3dae099
2 parents f7c38f9 + 270e858
commit 3dae099
Show file tree

Hide file tree

Showing 3 changed files with 10 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -88,9 +88,12 @@ IF(NOT MSVC)
     IF( NOT CMAKE_CXX_STANDARD AND OpenCV_VERSION_MAJOR EQUAL 4)
      #Newest versions require std11
      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++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")
       ELSEIF(COMPILER_SUPPORTS_CXX0X)
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

diff --git a/src/ros/CameraROS.cpp b/src/ros/CameraROS.cpp
@@ -74,12 +74,14 @@ CameraROS::CameraROS(bool subscribeDepth, QObject * parent) :
 		if(approxSync)
 		{
 			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
 		{
 			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));
 		}
 	}
 }

diff --git a/src/ros/print_objects_detected_node.cpp b/src/ros/print_objects_detected_node.cpp
@@ -155,7 +155,8 @@ int main(int argc, char** argv)
 	message_filters::Subscriber<find_object_2d::ObjectsStamped> objectsSub;
 	objectsSub.subscribe(nh, "objectsStamped", 1);
     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);