Merge pull request #3328 from SunBlack/prefix_cout_cerr_endl_with_std…

…_io-visualization

Use std::cout/std::cerr/std::endl instead of just cout/cerr/endl [io-visualization]

io/tools/openni_pcd_recorder.cpp

@@ -181,7 +181,7 @@ PCDBuffer<PointT>::getFront ()
         break;
       {
         std::lock_guard<std::mutex> io_lock (io_mutex);
-        //cerr << "No data in buffer_ yet or buffer is empty." << endl;
+        //std::cerr << "No data in buffer_ yet or buffer is empty." << std::endl;
       }
       buff_empty_.wait (buff_lock);
     }
@@ -200,7 +200,7 @@ do \
     ++count; \
     if (now - last >= 1.0) \
     { \
-      cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff.getSize () << "\n"; \
+      std::cerr << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz. Queue size: " << buff.getSize () << "\n"; \
       count = 0; \
       last = now; \
     } \
@@ -401,20 +401,20 @@ main (int argc, char** argv)
       {
         pcl::OpenNIGrabber grabber (argv[2]);
         openni_wrapper::OpenNIDevice::Ptr device = grabber.getDevice ();
-        cout << "Supported depth modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
+        std::cout << "Supported depth modes for device: " << device->getVendorName () << " , " << device->getProductName () << std::endl;
         std::vector<std::pair<int, XnMapOutputMode > > modes = grabber.getAvailableDepthModes ();
         for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
         {
-          cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+          std::cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << std::endl;
         }
 
         if (device->hasImageStream ())
         {
-          cout << endl << "Supported image modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
+          std::cout << std::endl << "Supported image modes for device: " << device->getVendorName () << " , " << device->getProductName () << std::endl;
           modes = grabber.getAvailableImageModes ();
           for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
           {
-            cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+            std::cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << std::endl;
           }
         }
       }
@@ -425,15 +425,15 @@ main (int argc, char** argv)
         {
           for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices (); ++deviceIdx)
           {
-            cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
-              << ", connected: " << driver.getBus(deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << endl;
+            std::cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
+              << ", connected: " << driver.getBus(deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << std::endl;
           }
 
         }
         else
-          cout << "No devices connected." << endl;
+          std::cout << "No devices connected." << std::endl;
 
-        cout <<"Virtual Devices available: ONI player" << endl;
+        std::cout <<"Virtual Devices available: ONI player" << std::endl;
       }
       return 0;
     }
@@ -442,7 +442,7 @@ main (int argc, char** argv)
   {
     openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
     if (driver.getNumberDevices () > 0)
-      cout << "Device Id not set, using first device." << endl;
+      std::cout << "Device Id not set, using first device." << std::endl;
   }
 
   bool just_xyz = find_switch (argc, argv, "-xyz");

outofcore/include/pcl/outofcore/impl/octree_base_node.hpp

@@ -1070,7 +1070,7 @@ namespace pcl
           double c = planes[(i*4)+2];
           double d = planes[(i*4)+3];
 
-          //cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << endl;
+          //std::cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << std::endl;
 
           Eigen::Vector3d normal(a, b, c);
 
@@ -1099,8 +1099,8 @@ namespace pcl
   //        Eigen::Vector3d n_vertex; //neg vertex
   //        get_np_vertices(normal, p_vertex, n_vertex, min_bb, max_bb);
   //
-  //        cout << "n_vertex: " << n_vertex.x () << ", " << n_vertex.y () << ", " << n_vertex.z () << endl;
-  //        cout << "p_vertex: " << p_vertex.x () << ", " << p_vertex.y () << ", " << p_vertex.z () << endl;
+  //        std::cout << "n_vertex: " << n_vertex.x () << ", " << n_vertex.y () << ", " << n_vertex.z () << std::endl;
+  //        std::cout << "p_vertex: " << p_vertex.x () << ", " << p_vertex.y () << ", " << p_vertex.z () << std::endl;
 
           // is the positive vertex outside?
   //        if (pl[i].distance(b.getVertexP(pl[i].normal)) < 0)
@@ -1128,14 +1128,14 @@ namespace pcl
 
           // This should be the same as above
   //        double m = (a * n_vertex.x ()) + (b * n_vertex.y ()) + (c * n_vertex.z ());
-  //        cout << "m = " << m << endl;
+  //        std::cout << "m = " << m << std::endl;
   //        if (m > -d)
   //        {
   //          result = OUTSIDE;
   //        }
   //
   //        double n = (a * p_vertex.x ()) + (b * p_vertex.y ()) + (c * p_vertex.z ());
-  //        cout << "n = " << n << endl;
+  //        std::cout << "n = " << n << std::endl;
   //        if (n > -d)
   //        {
   //          result = INTERSECT;
@@ -1150,13 +1150,13 @@ namespace pcl
 
 //      switch(result){
 //        case OUTSIDE:
-//          //cout << this->depth_ << " [OUTSIDE]: " << node_metadata_->getPCDFilename() << endl;
+//          //std::cout << this->depth_ << " [OUTSIDE]: " << node_metadata_->getPCDFilename() << std::endl;
 //          return;
 //        case INTERSECT:
-//          //cout << this->depth_ << " [INTERSECT]: " << node_metadata_->getPCDFilename() << endl;
+//          //std::cout << this->depth_ << " [INTERSECT]: " << node_metadata_->getPCDFilename() << std::endl;
 //          break;
 //        case INSIDE:
-//          //cout << this->depth_ << " [INSIDE]: " << node_metadata_->getPCDFilename() << endl;
+//          //std::cout << this->depth_ << " [INSIDE]: " << node_metadata_->getPCDFilename() << std::endl;
 //          break;
 //      }
 
@@ -1223,7 +1223,7 @@ namespace pcl
           double c = planes[(i*4)+2];
           double d = planes[(i*4)+3];
 
-          //cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << endl;
+          //std::cout << i << ": " << a << "x + " << b << "y + " << c << "z + " << d << std::endl;
 
           Eigen::Vector3d normal(a, b, c);
 

outofcore/include/pcl/outofcore/visualization/outofcore_cloud.h

@@ -234,7 +234,7 @@ class OutofcoreCloud : public Object
         value = 100;
 
       lod_pixel_threshold_ += value;
-      std::cout << "Increasing lod pixel threshold: " << lod_pixel_threshold_ << endl;
+      std::cout << "Increasing lod pixel threshold: " << lod_pixel_threshold_ << std::endl;
     }
 
     void
@@ -252,7 +252,7 @@ class OutofcoreCloud : public Object
 
       if (lod_pixel_threshold_ < 100)
         lod_pixel_threshold_ = 100;
-      std::cout << "Decreasing lod pixel threshold: " << lod_pixel_threshold_ << endl;
+      std::cout << "Decreasing lod pixel threshold: " << lod_pixel_threshold_ << std::endl;
     }
 
     void

outofcore/src/visualization/outofcore_cloud.cpp

@@ -213,7 +213,7 @@ OutofcoreCloud::render (vtkRenderer* renderer)
 
 //      for (int i=0; i < node->getDepth(); i++)
 //        std::cout << " ";
-//      std::cout << coverage << "-" << pcd_file << endl;//" : " << (coverage > (size[0] * size[1])) << endl;
+//      std::cout << coverage << "-" << pcd_file << std::endl;//" : " << (coverage > (size[0] * size[1])) << std::endl;
 
       std::string pcd_file = node->getPCDFilename ().string ();
 

outofcore/tools/outofcore_viewer.cpp

@@ -158,7 +158,7 @@ class KeyboardCallback : public vtkCommand
     std::string key (interactor->GetKeySym ());
     bool shift_down = interactor->GetShiftKey();
 
-    cout << "Key Pressed: " << key << endl;
+    std::cout << "Key Pressed: " << key << std::endl;
 
     Scene *scene = Scene::instance ();
     OutofcoreCloud *cloud = static_cast<OutofcoreCloud*> (scene->getObjectByName ("my_octree"));
@@ -225,7 +225,7 @@ renderEndCallback(vtkObject* vtkNotUsed(caller), unsigned long int vtkNotUsed(ev
 int
 outofcoreViewer (boost::filesystem::path tree_root, int depth, bool display_octree=true, unsigned int gpu_cache_size=512)
 {
-  cout << boost::filesystem::absolute (tree_root) << endl;
+  std::cout << boost::filesystem::absolute (tree_root) << std::endl;
 
   // Create top level scene
   Scene *scene = Scene::instance ();

people/apps/main_ground_based_people_detection.cpp

@@ -71,15 +71,15 @@ enum { COLS = 640, ROWS = 480 };
 
 int print_help()
 {
-  cout << "*******************************************************" << std::endl;
-  cout << "Ground based people detection app options:" << std::endl;
-  cout << "   --help    <show_this_help>" << std::endl;
-  cout << "   --svm     <path_to_svm_file>" << std::endl;
-  cout << "   --conf    <minimum_HOG_confidence (default = -1.5)>" << std::endl;
-  cout << "   --min_h   <minimum_person_height (default = 1.3)>" << std::endl;
-  cout << "   --max_h   <maximum_person_height (default = 2.3)>" << std::endl;
-  cout << "   --sample  <sampling_factor (default = 1)>" << std::endl;
-  cout << "*******************************************************" << std::endl;
+  std::cout << "*******************************************************" << std::endl;
+  std::cout << "Ground based people detection app options:" << std::endl;
+  std::cout << "   --help    <show_this_help>" << std::endl;
+  std::cout << "   --svm     <path_to_svm_file>" << std::endl;
+  std::cout << "   --conf    <minimum_HOG_confidence (default = -1.5)>" << std::endl;
+  std::cout << "   --min_h   <minimum_person_height (default = 1.3)>" << std::endl;
+  std::cout << "   --max_h   <maximum_person_height (default = 2.3)>" << std::endl;
+  std::cout << "   --sample  <sampling_factor (default = 1)>" << std::endl;
+  std::cout << "*******************************************************" << std::endl;
   return 0;
 }
 

recognition/src/ransac_based/obj_rec_ransac.cpp

@@ -175,7 +175,7 @@ pcl::recognition::ObjRecRANSAC::sampleOrientedPointPairs (int num_iterations, co
   if ( !num_full_leaves )
   {
 #ifdef OBJ_REC_RANSAC_VERBOSE
-    cout << "done [" << num_of_opps << " opps].\n";
+    std::cout << "done [" << num_of_opps << " opps].\n";
 #endif
     return;
   }
@@ -229,7 +229,7 @@ pcl::recognition::ObjRecRANSAC::sampleOrientedPointPairs (int num_iterations, co
   }
 
 #ifdef OBJ_REC_RANSAC_VERBOSE
-  cout << "done [" << num_of_opps << " opps].\n";
+  std::cout << "done [" << num_of_opps << " opps].\n";
 #endif
 }
 

simulation/src/range_likelihood.cpp

@@ -125,22 +125,22 @@ display_tic_toc (vector<double> &tic_toc,const string &fun_name)
 
   double percent_tic_toc_last = 0;
   double dtime = tic_toc[tic_toc_size-1] - tic_toc[0];
-  cout << "fraction_" << fun_name << ",";
+  std::cout << "fraction_" << fun_name << ",";
   for (size_t i = 0; i < tic_toc_size; i++)
   {
     double percent_tic_toc =  (tic_toc[i] - tic_toc[0])/(tic_toc[tic_toc_size-1] - tic_toc[0]);
-    cout <<  percent_tic_toc - percent_tic_toc_last << ", ";
+    std::cout <<  percent_tic_toc - percent_tic_toc_last << ", ";
     percent_tic_toc_last = percent_tic_toc;
   }
-  cout << "\ntime_" << fun_name << ",";
+  std::cout << "\ntime_" << fun_name << ",";
   double time_tic_toc_last = 0;
   for (size_t i = 0; i < tic_toc_size; i++)
   {
     double percent_tic_toc = (tic_toc[i] - tic_toc[0])/(tic_toc[tic_toc_size-1] - tic_toc[0]);
-    cout <<  percent_tic_toc*dtime - time_tic_toc_last << ", ";
+    std::cout <<  percent_tic_toc*dtime - time_tic_toc_last << ", ";
     time_tic_toc_last = percent_tic_toc*dtime;
   }
-  cout << "\ntotal_time_" << fun_name << " " << dtime << "\n";
+  std::cout << "\ntotal_time_" << fun_name << " " << dtime << "\n";
 }
 
 pcl::simulation::RangeLikelihood::RangeLikelihood (int rows, int cols, int row_height, int col_width, Scene::Ptr scene) :
@@ -810,7 +810,7 @@ pcl::simulation::RangeLikelihood::addNoise ()
   {
     depth_buffer_[i] =  std::ceil (depth_buffer_[i]*bins)/bins;
   }
-  cout << "in add noise\n";
+  std::cout << "in add noise\n";
 }
 
 void

simulation/tools/sim_terminal_demo.cpp

@@ -63,7 +63,7 @@ void write_sim_output(const string &fname_root){
     pcl::PCDWriter writer;
     //writer.write ( string (fname_root + ".pcd"), *pc_out,	false);  /// ASCII
     writer.writeBinary (  string (fname_root + ".pcd")  , *pc_out);
-    //cout << "finished writing file\n";
+    //std::cout << "finished writing file\n";
   }else{
     std::cout << pc_out->points.size() << " points in cloud, not written\n";
   }
@@ -202,10 +202,10 @@ main (int argc, char** argv)
     simexample->doSim(poses[i]);
 
     write_sim_output(ss.str());
-    cout << (getTime() -tic) << " sec\n";
+    std::cout << (getTime() -tic) << " sec\n";
   }
-  cout << poses.size() << " poses simulated in " << (getTime() -tic_main) << "seconds\n";
-  cout << (poses.size()/ (getTime() -tic_main) ) << "Hz on average\n";
+  std::cout << poses.size() << " poses simulated in " << (getTime() -tic_main) << "seconds\n";
+  std::cout << (poses.size()/ (getTime() -tic_main) ) << "Hz on average\n";
 
   return 0;
 }

simulation/tools/sim_test_simple.cpp

@@ -401,7 +401,7 @@ void display ()
 
     pcl::PCDWriter writer;
     writer.write ("simulated_range_image.pcd", *pc_out,	false);  
-    cout << "finished writing file\n";
+    std::cout << "finished writing file\n";
 
 //     pcl::visualization::CloudViewer viewer ("Simple Cloud Viewer");
 //     viewer.showCloud (pc_out);
@@ -420,7 +420,7 @@ void display ()
 //    viewer.reset();
 
 
-    cout << "done\n";
+    std::cout << "done\n";
     // Problem: vtk and opengl don't seem to play very well together
     // vtk seems to misbehave after a little while and won't keep the window on the screen
 
@@ -430,7 +430,7 @@ void display ()
 
     // method2: eventually starts ignoring cin and pops up on screen and closes almost 
     // immediately
-    //  cout << "enter 1 to cont\n";
+    //  std::cout << "enter 1 to cont\n";
     //  cin >> pause;
     //  viewer.wasStopped ();
 
@@ -569,7 +569,7 @@ initialize (int, char** argv)
   camera_->setPitch(0.20944); // not sure why this is here: 
   //camera_->set(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
 
-  cout << "About to read: " << argv[1] << endl;
+  std::cout << "About to read: " << argv[1] << std::endl;
   load_PolygonMesh_model (argv[1]);
 
   paused_ = false;

simulation/tools/sim_viewer.cpp

@@ -333,7 +333,7 @@ void simulate_callback (const pcl::visualization::KeyboardEvent &event,
       std::cout << "n cams not 1 exiting\n"; // for now in case ...
      return; 
     }
-   // cout << "n cams: " << cams.size() << "\n";
+   // std::cout << "n cams: " << cams.size() << "\n";
     pcl::visualization::Camera cam = cams[0];
 
 
@@ -351,9 +351,9 @@ void simulate_callback (const pcl::visualization::KeyboardEvent &event,
 	     m =pose.rotation();
 	     //All axies use right hand rule. x=red axis, y=green axis, z=blue axis z direction is point into the screen. z \ \ \ -----------> x | | | | | | y 
 
- cout << pose(0,0)  << " " << pose(0,1) << " " << pose(0,2)  << " " << pose(0,3) << " x0\n";
- cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
-  cout << pose(2,0) << " " << pose(2,1)  << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
+ std::cout << pose(0,0)  << " " << pose(0,1) << " " << pose(0,2)  << " " << pose(0,3) << " x0\n";
+ std::cout << pose(1,0) << " " << pose(1,1) << " " << pose(1,2) << " " << pose(1,3) << " x1\n";
+  std::cout << pose(2,0) << " " << pose(2,1)  << " " << pose(2,2) << " " << pose(2,3)<< "x2\n";
 
   double yaw,pitch, roll;
   wRo_to_euler(m,yaw,pitch,roll);
@@ -362,9 +362,9 @@ void simulate_callback (const pcl::visualization::KeyboardEvent &event,
 
 // matrix->GetElement(1,0);
 
- cout << m(0,0)  << " " << m(0,1) << " " << m(0,2)  << " "  << " x0\n";
- cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " "  << " x1\n";
-  cout << m(2,0) << " " << m(2,1)  << " " << m(2,2) << " "<< "x2\n\n";
+ std::cout << m(0,0)  << " " << m(0,1) << " " << m(0,2)  << " "  << " x0\n";
+ std::cout << m(1,0) << " " << m(1,1) << " " << m(1,2) << " "  << " x1\n";
+  std::cout << m(2,0) << " " << m(2,1)  << " " << m(2,2) << " "<< "x2\n\n";
 
   Eigen::Quaternionf rf;
   rf = Eigen::Quaternionf(m);
@@ -395,7 +395,7 @@ void simulate_callback (const pcl::visualization::KeyboardEvent &event,
     ss2.precision(20);
     ss2 << "simulated_pcl_" << tic << ".pcd";
     capture(init_pose);
-    cout << (getTime() -tic) << " sec\n";  
+    std::cout << (getTime() -tic) << " sec\n";  
   }
 }
 

simulation/tools/simulation_io.cpp

@@ -268,7 +268,7 @@ pcl::simulation::SimExample::write_depth_image_uint(const float* depth_buffer, s
       if (z_new>65535) z_new = 65535;
 
       if ( z_new < 18000){
-	  cout << z_new << " " << d << " " << x << "\n";  
+	  std::cout << z_new << " " << d << " " << x << "\n";  
       }
 
       depth_img[i] = z_new;

test/features/test_ii_normals.cpp

@@ -86,7 +86,7 @@ TEST(PCL, IntegralImage1D)
       {
         for(unsigned xIdx = 0; xIdx < width - window_width; ++xIdx)
         {
-          //cout << xIdx << " : " << yIdx << " - " << window_width << " x " << window_height << " :: " << integral_image1.getFirstOrderSum (xIdx, yIdx, window_width, window_height) * 2 << endl;
+          //std::cout << xIdx << " : " << yIdx << " - " << window_width << " x " << window_height << " :: " << integral_image1.getFirstOrderSum (xIdx, yIdx, window_width, window_height) * 2 << std::endl;
           EXPECT_EQ (window_height * window_width * (window_width + 2 * xIdx - 1), integral_image1.getFirstOrderSum (xIdx, yIdx, window_width, window_height) * 2);
           EXPECT_EQ (window_height * window_width * (window_width + 2 * xIdx - 1), integral_image2.getFirstOrderSum (xIdx, yIdx, window_width, window_height) * 2);
           EXPECT_EQ (window_height * window_width, integral_image1.getFiniteElementsCount (xIdx, yIdx, window_width, window_height));