From b0fffb52c0f3ddd99a9316da5c481e2d1d353cb5 Mon Sep 17 00:00:00 2001 From: Heiko Thiel <heiko.thiel@hpi.de> Date: Tue, 8 Jan 2019 17:04:23 +0100 Subject: [PATCH] Fix warning: 'register' storage class specifier is deprecated and incompatible with C++17 [-Wdeprecated-register] --- .../pcl/filters/impl/box_clipper3D.hpp | 2 +- .../pcl/filters/impl/plane_clipper3D.hpp | 8 +-- io/src/oni_grabber.cpp | 36 ++++++------- .../openni_camera/openni_image_bayer_grbg.cpp | 52 +++++++++---------- io/src/openni_camera/openni_image_yuv_422.cpp | 28 +++++----- io/src/openni_grabber.cpp | 42 +++++++-------- keypoints/src/brisk_2d.cpp | 12 ++--- 7 files changed, 90 insertions(+), 90 deletions(-) diff --git a/filters/include/pcl/filters/impl/box_clipper3D.hpp b/filters/include/pcl/filters/impl/box_clipper3D.hpp index edcd5f5c205..dc55657c8a3 100644 --- a/filters/include/pcl/filters/impl/box_clipper3D.hpp +++ b/filters/include/pcl/filters/impl/box_clipper3D.hpp @@ -202,7 +202,7 @@ pcl::BoxClipper3D<PointT>::clipPointCloud3D (const pcl::PointCloud<PointT>& clou if (indices.empty ()) { clipped.reserve (cloud_in.size ()); - for (register unsigned pIdx = 0; pIdx < cloud_in.size (); ++pIdx) + for (unsigned pIdx = 0; pIdx < cloud_in.size (); ++pIdx) if (clipPoint3D (cloud_in[pIdx])) clipped.push_back (pIdx); } diff --git a/filters/include/pcl/filters/impl/plane_clipper3D.hpp b/filters/include/pcl/filters/impl/plane_clipper3D.hpp index a242ade4cee..798befeee65 100644 --- a/filters/include/pcl/filters/impl/plane_clipper3D.hpp +++ b/filters/include/pcl/filters/impl/plane_clipper3D.hpp @@ -186,14 +186,14 @@ pcl::PlaneClipper3D<PointT>::clipPointCloud3D (const pcl::PointCloud<PointT>& cl #if 0 Eigen::MatrixXf points = cloud_in.getMatrixXfMap (4, sizeof (PointT) / sizeof (float), offsetof(PointT,x) / sizeof (float)); Eigen::VectorXf distances = plane_params_.transpose () * points; - for (register unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) + for (unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) { if (distances (rIdx, 0) >= -plane_params_[3]) clipped.push_back (rIdx); } #else Eigen::Matrix4Xf points (4, cloud_in.size ()); - for (register unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) + for (unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) { points (0, rIdx) = cloud_in[rIdx].x; points (1, rIdx) = cloud_in[rIdx].y; @@ -201,7 +201,7 @@ pcl::PlaneClipper3D<PointT>::clipPointCloud3D (const pcl::PointCloud<PointT>& cl points (3, rIdx) = 1; } Eigen::VectorXf distances = plane_params_.transpose () * points; - for (register unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) + for (unsigned rIdx = 0; rIdx < cloud_in.size (); ++ rIdx) { if (distances (rIdx, 0) >= 0) clipped.push_back (rIdx); @@ -213,7 +213,7 @@ pcl::PlaneClipper3D<PointT>::clipPointCloud3D (const pcl::PointCloud<PointT>& cl //cout << "distances: " << distances.rows () << " x " << distances.cols () << endl; /*/ - for (register unsigned pIdx = 0; pIdx < cloud_in.size (); ++pIdx) + for (unsigned pIdx = 0; pIdx < cloud_in.size (); ++pIdx) if (clipPoint3D (cloud_in[pIdx])) clipped.push_back (pIdx); //*/ diff --git a/io/src/oni_grabber.cpp b/io/src/oni_grabber.cpp index efc8a724524..aa8e98525c9 100644 --- a/io/src/oni_grabber.cpp +++ b/io/src/oni_grabber.cpp @@ -351,20 +351,20 @@ ONIGrabber::convertToXYZPointCloud(const boost::shared_ptr<openni_wrapper::Depth cloud->points.resize (cloud->height * cloud->width); - register float constant = 1.0f / device_->getDepthFocalLength (depth_width_); + float constant = 1.0f / device_->getDepthFocalLength (depth_width_); if (device_->isDepthRegistered ()) cloud->header.frame_id = rgb_frame_id_; else cloud->header.frame_id = depth_frame_id_; - register int centerX = (cloud->width >> 1); + int centerX = (cloud->width >> 1); int centerY = (cloud->height >> 1); float bad_point = std::numeric_limits<float>::quiet_NaN (); // we have to use Data, since operator[] uses assert -> Debug-mode very slow! - register const unsigned short* depth_map = depth_image->getDepthMetaData ().Data (); + const unsigned short* depth_map = depth_image->getDepthMetaData ().Data (); if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_) { static unsigned buffer_size = 0; @@ -379,10 +379,10 @@ ONIGrabber::convertToXYZPointCloud(const boost::shared_ptr<openni_wrapper::Depth depth_map = depth_buffer.get (); } - register int depth_idx = 0; + int depth_idx = 0; for (int v = -centerY; v < centerY; ++v) { - for (register int u = -centerX; u < centerX; ++u, ++depth_idx) + for (int u = -centerX; u < centerX; ++u, ++depth_idx) { pcl::PointXYZ& pt = cloud->points[depth_idx]; // Check for invalid measurements @@ -421,10 +421,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud ( cloud->points.resize(cloud->height * cloud->width); float constant = 1.0f / device_->getImageFocalLength(cloud->width); - register int centerX = (cloud->width >> 1); + int centerX = (cloud->width >> 1); int centerY = (cloud->height >> 1); - register const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); + const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); if (depth_image->getWidth() != depth_width_ || depth_image->getHeight() != depth_height_) { static unsigned buffer_size = 0; @@ -450,7 +450,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud ( image->fillRGB(image_width_, image_height_, rgb_buffer, image_width_ * 3); // depth_image already has the desired dimensions, but rgb_msg may be higher res. - register int color_idx = 0, depth_idx = 0; + int color_idx = 0, depth_idx = 0; RGBValue color; color.Alpha = 0; @@ -458,7 +458,7 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr ONIGrabber::convertToXYZRGBPointCloud ( for (int v = -centerY; v < centerY; ++v) { - for (register int u = -centerX; u < centerX; ++u, color_idx += 3, ++depth_idx) + for (int u = -centerX; u < centerX; ++u, color_idx += 3, ++depth_idx) { pcl::PointXYZRGB& pt = cloud->points[depth_idx]; /// @todo Different values for these cases @@ -505,10 +505,10 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud ( cloud->points.resize(cloud->height * cloud->width); float constant = 1.0f / device_->getImageFocalLength(cloud->width); - register int centerX = (cloud->width >> 1); + int centerX = (cloud->width >> 1); int centerY = (cloud->height >> 1); - register const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); + const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); if (depth_image->getWidth() != depth_width_ || depth_image->getHeight() != depth_height_) { static unsigned buffer_size = 0; @@ -534,7 +534,7 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud ( image->fillRGB(image_width_, image_height_, rgb_buffer, image_width_ * 3); // depth_image already has the desired dimensions, but rgb_msg may be higher res. - register int color_idx = 0, depth_idx = 0; + int color_idx = 0, depth_idx = 0; RGBValue color; color.Alpha = 0; @@ -542,7 +542,7 @@ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr ONIGrabber::convertToXYZRGBAPointCloud ( for (int v = -centerY; v < centerY; ++v) { - for (register int u = -centerX; u < centerX; ++u, color_idx += 3, ++depth_idx) + for (int u = -centerX; u < centerX; ++u, color_idx += 3, ++depth_idx) { pcl::PointXYZRGBA& pt = cloud->points[depth_idx]; /// @todo Different values for these cases @@ -584,11 +584,11 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr ONIGrabber::convertToXYZIPointCloud(const b cloud->points.resize(cloud->height * cloud->width); float constant = 1.0f / device_->getImageFocalLength(cloud->width); - register int centerX = (cloud->width >> 1); + int centerX = (cloud->width >> 1); int centerY = (cloud->height >> 1); - register const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); - register const XnIRPixel* ir_map = ir_image->getMetaData().Data(); + const XnDepthPixel* depth_map = depth_image->getDepthMetaData().Data(); + const XnIRPixel* ir_map = ir_image->getMetaData().Data(); if (depth_image->getWidth() != depth_width_ || depth_image->getHeight() != depth_height_) { @@ -610,12 +610,12 @@ pcl::PointCloud<pcl::PointXYZI>::Ptr ONIGrabber::convertToXYZIPointCloud(const b ir_map = ir_buffer.get (); } - register int depth_idx = 0; + int depth_idx = 0; float bad_point = std::numeric_limits<float>::quiet_NaN(); for (int v = -centerY; v < centerY; ++v) { - for (register int u = -centerX; u < centerX; ++u, ++depth_idx) + for (int u = -centerX; u < centerX; ++u, ++depth_idx) { pcl::PointXYZI& pt = cloud->points[depth_idx]; /// @todo Different values for these cases diff --git a/io/src/openni_camera/openni_image_bayer_grbg.cpp b/io/src/openni_camera/openni_image_bayer_grbg.cpp index 834339b2c2b..f086fc8a616 100644 --- a/io/src/openni_camera/openni_image_bayer_grbg.cpp +++ b/io/src/openni_camera/openni_image_bayer_grbg.cpp @@ -91,7 +91,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( if (debayering_method_ == Bilinear) { // first line GRGRGR - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; // green pixel gray_buffer[1] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[1 + line_skip]); // interpolated green pixel @@ -101,14 +101,14 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += 2 + gray_line_skip; bayer_pixel += 2; - for (register unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) + for (unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) { // blue line gray_buffer[0] = AVG3 (bayer_pixel[-line_skip], bayer_pixel[line_skip], bayer_pixel[1]); gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = AVG4 (bayer_pixel[-line_skip], bayer_pixel[line_skip], bayer_pixel[-1], bayer_pixel[1]); gray_buffer[1] = bayer_pixel[1]; @@ -116,7 +116,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += gray_line_skip; // red line - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; // green pixel gray_buffer[1] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[-line_skip + 1], bayer_pixel[line_skip + 1]); // interpolated green pixel @@ -132,7 +132,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = AVG3 (bayer_pixel[-1], bayer_pixel[1], bayer_pixel[-line_skip]); gray_buffer[1] = bayer_pixel[1]; @@ -142,7 +142,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( { int dv, dh; // first line GRGRGR - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; // green pixel gray_buffer[1] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[1 + line_skip]); // interpolated green pixel @@ -152,14 +152,14 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += 2 + gray_line_skip; bayer_pixel += 2; - for (register unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) + for (unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) { // blue line gray_buffer[0] = AVG3 (bayer_pixel[-line_skip], bayer_pixel[line_skip], bayer_pixel[1]); gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { dv = abs (bayer_pixel[-line_skip] - bayer_pixel[line_skip]); dh = abs (bayer_pixel[-1] - bayer_pixel[1]); @@ -175,7 +175,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += gray_line_skip; // red line - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; @@ -199,7 +199,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = AVG3 (bayer_pixel[-1], bayer_pixel[1], bayer_pixel[-line_skip]); gray_buffer[1] = bayer_pixel[1]; @@ -209,7 +209,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( { int dv, dh; // first line GRGRGR - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; // green pixel gray_buffer[1] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[1 + line_skip]); // interpolated green pixel @@ -219,14 +219,14 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += 2 + gray_line_skip; bayer_pixel += 2; - for (register unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) + for (unsigned yIdx = 1; yIdx < height - 1; yIdx += 2) { // blue line gray_buffer[0] = AVG3 (bayer_pixel[-line_skip], bayer_pixel[line_skip], bayer_pixel[1]); gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { dv = abs (bayer_pixel[-line_skip] - bayer_pixel[line_skip]); dh = abs (bayer_pixel[-1] - bayer_pixel[1]); @@ -242,7 +242,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer += gray_line_skip; // red line - for (register unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 0; xIdx < width - 2; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = bayer_pixel[0]; @@ -265,7 +265,7 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( gray_buffer[1] = bayer_pixel[1]; gray_buffer += 2; bayer_pixel += 2; - for (register unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) + for (unsigned xIdx = 2; xIdx < width; xIdx += 2, gray_buffer += 2, bayer_pixel += 2) { gray_buffer[0] = AVG3 (bayer_pixel[-1], bayer_pixel[1], bayer_pixel[-line_skip]); gray_buffer[1] = bayer_pixel[1]; @@ -281,15 +281,15 @@ openni_wrapper::ImageBayerGRBG::fillGrayscale ( THROW_OPENNI_EXCEPTION ("Downsampling only possible for multiple of 2 in both dimensions. Request was %d x %d -> %d x %d.", image_md_->XRes (), image_md_->YRes (), width, height); // fast method -> simply takes each or each 2nd pixel-group to get gray values out - register unsigned bayerXStep = image_md_->XRes () / width; - register unsigned bayerYSkip = (image_md_->YRes () / height - 1) * image_md_->XRes (); + unsigned bayerXStep = image_md_->XRes () / width; + unsigned bayerYSkip = (image_md_->YRes () / height - 1) * image_md_->XRes (); // Downsampling and debayering at once - register const XnUInt8* bayer_buffer = image_md_->Data (); + const XnUInt8* bayer_buffer = image_md_->Data (); - for (register unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, gray_buffer += gray_line_skip) // skip a line + for (unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, gray_buffer += gray_line_skip) // skip a line { - for (register unsigned xIdx = 0; xIdx < width; ++xIdx, ++gray_buffer, bayer_buffer += bayerXStep) + for (unsigned xIdx = 0; xIdx < width; ++xIdx, ++gray_buffer, bayer_buffer += bayerXStep) { *gray_buffer = AVG (bayer_buffer[0], bayer_buffer[ image_md_->XRes () + 1]); } @@ -314,7 +314,7 @@ openni_wrapper::ImageBayerGRBG::fillRGB ( if (image_md_->XRes () == width && image_md_->YRes () == height) { - register const unsigned char* bayer_pixel = image_md_->Data (); + const unsigned char* bayer_pixel = image_md_->Data (); int bayer_line_step = image_md_->XRes (); int bayer_line_step2 = image_md_->XRes () << 1; @@ -335,15 +335,15 @@ openni_wrapper::ImageBayerGRBG::fillRGB ( THROW_OPENNI_EXCEPTION ("Downsampling only possible for integer scales in both dimensions. Request was %d x %d -> %d x %d.", image_md_->XRes (), image_md_->YRes (), width, height); // get each or each 2nd pixel group to find rgb values! - register unsigned bayerXStep = image_md_->XRes () / width; - register unsigned bayerYSkip = (image_md_->YRes () / height - 1) * image_md_->XRes (); + unsigned bayerXStep = image_md_->XRes () / width; + unsigned bayerYSkip = (image_md_->YRes () / height - 1) * image_md_->XRes (); // Downsampling and debayering at once - register const XnUInt8* bayer_buffer = image_md_->Data (); + const XnUInt8* bayer_buffer = image_md_->Data (); - for (register unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, rgb_buffer += rgb_line_skip) // skip a line + for (unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, rgb_buffer += rgb_line_skip) // skip a line { - for (register unsigned xIdx = 0; xIdx < width; ++xIdx, rgb_buffer += 3, bayer_buffer += bayerXStep) + for (unsigned xIdx = 0; xIdx < width; ++xIdx, rgb_buffer += 3, bayer_buffer += bayerXStep) { rgb_buffer[ 2 ] = bayer_buffer[ image_md_->XRes () ]; rgb_buffer[ 1 ] = AVG (bayer_buffer[0], bayer_buffer[ image_md_->XRes () + 1]); diff --git a/io/src/openni_camera/openni_image_yuv_422.cpp b/io/src/openni_camera/openni_image_yuv_422.cpp index 91779c5b32a..deb6455dbe6 100644 --- a/io/src/openni_camera/openni_image_yuv_422.cpp +++ b/io/src/openni_camera/openni_image_yuv_422.cpp @@ -76,7 +76,7 @@ void ImageYUV422::fillRGB (unsigned width, unsigned height, unsigned char* rgb_b THROW_OPENNI_EXCEPTION ("Downsampling only possible for power of two scale in both dimensions. Request was %d x %d -> %d x %d.", image_md_->XRes (), image_md_->YRes (), width, height); } - register const XnUInt8* yuv_buffer = image_md_->Data(); + const XnUInt8* yuv_buffer = image_md_->Data(); unsigned rgb_line_skip = 0; if (rgb_line_step != 0) @@ -84,9 +84,9 @@ void ImageYUV422::fillRGB (unsigned width, unsigned height, unsigned char* rgb_b if (image_md_->XRes() == width && image_md_->YRes() == height) { - for( register unsigned yIdx = 0; yIdx < height; ++yIdx, rgb_buffer += rgb_line_skip ) + for( unsigned yIdx = 0; yIdx < height; ++yIdx, rgb_buffer += rgb_line_skip ) { - for( register unsigned xIdx = 0; xIdx < width; xIdx += 2, rgb_buffer += 6, yuv_buffer += 4 ) + for( unsigned xIdx = 0; xIdx < width; xIdx += 2, rgb_buffer += 6, yuv_buffer += 4 ) { int v = yuv_buffer[2] - 128; int u = yuv_buffer[0] - 128; @@ -103,13 +103,13 @@ void ImageYUV422::fillRGB (unsigned width, unsigned height, unsigned char* rgb_b } else { - register unsigned yuv_step = image_md_->XRes() / width; - register unsigned yuv_x_step = yuv_step << 1; - register unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 ); + unsigned yuv_step = image_md_->XRes() / width; + unsigned yuv_x_step = yuv_step << 1; + unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 ); - for( register unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, rgb_buffer += rgb_line_skip ) + for( unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, rgb_buffer += rgb_line_skip ) { - for( register unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, rgb_buffer += 3, yuv_buffer += yuv_x_step ) + for( unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, rgb_buffer += 3, yuv_buffer += yuv_x_step ) { int v = yuv_buffer[2] - 128; int u = yuv_buffer[0] - 128; @@ -135,14 +135,14 @@ void ImageYUV422::fillGrayscale (unsigned width, unsigned height, unsigned char* if (gray_line_step != 0) gray_line_skip = gray_line_step - width; - register unsigned yuv_step = image_md_->XRes() / width; - register unsigned yuv_x_step = yuv_step << 1; - register unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 ); - register const XnUInt8* yuv_buffer = (image_md_->Data() + 1); + unsigned yuv_step = image_md_->XRes() / width; + unsigned yuv_x_step = yuv_step << 1; + unsigned yuv_skip = (image_md_->YRes() / height - 1) * ( image_md_->XRes() << 1 ); + const XnUInt8* yuv_buffer = (image_md_->Data() + 1); - for( register unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, gray_buffer += gray_line_skip ) + for( unsigned yIdx = 0; yIdx < image_md_->YRes(); yIdx += yuv_step, yuv_buffer += yuv_skip, gray_buffer += gray_line_skip ) { - for( register unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, ++gray_buffer, yuv_buffer += yuv_x_step ) + for( unsigned xIdx = 0; xIdx < image_md_->XRes(); xIdx += yuv_step, ++gray_buffer, yuv_buffer += yuv_x_step ) { *gray_buffer = *yuv_buffer; } diff --git a/io/src/openni_grabber.cpp b/io/src/openni_grabber.cpp index a67be1b988a..8fe82dfa4cf 100644 --- a/io/src/openni_grabber.cpp +++ b/io/src/openni_grabber.cpp @@ -539,10 +539,10 @@ pcl::OpenNIGrabber::convertToXYZPointCloud (const boost::shared_ptr<openni_wrapp cloud->points.resize (cloud->height * cloud->width); - register float constant_x = 1.0f / device_->getDepthFocalLength (depth_width_); - register float constant_y = 1.0f / device_->getDepthFocalLength (depth_width_); - register float centerX = ((float)cloud->width - 1.f) / 2.f; - register float centerY = ((float)cloud->height - 1.f) / 2.f; + float constant_x = 1.0f / device_->getDepthFocalLength (depth_width_); + float constant_y = 1.0f / device_->getDepthFocalLength (depth_width_); + float centerX = ((float)cloud->width - 1.f) / 2.f; + float centerY = ((float)cloud->height - 1.f) / 2.f; if (pcl_isfinite (depth_focal_length_x_)) constant_x = 1.0f / static_cast<float> (depth_focal_length_x_); @@ -565,7 +565,7 @@ pcl::OpenNIGrabber::convertToXYZPointCloud (const boost::shared_ptr<openni_wrapp float bad_point = std::numeric_limits<float>::quiet_NaN (); // we have to use Data, since operator[] uses assert -> Debug-mode very slow! - register const unsigned short* depth_map = depth_image->getDepthMetaData ().Data (); + const unsigned short* depth_map = depth_image->getDepthMetaData ().Data (); if (depth_image->getWidth() != depth_width_ || depth_image->getHeight () != depth_height_) { if (depth_buffer_size_ < depth_width_ * depth_height_) @@ -577,10 +577,10 @@ pcl::OpenNIGrabber::convertToXYZPointCloud (const boost::shared_ptr<openni_wrapp depth_map = depth_buffer_.get (); } - register int depth_idx = 0; + int depth_idx = 0; for (unsigned int v = 0; v < depth_height_; ++v) { - for (register unsigned int u = 0; u < depth_width_; ++u, ++depth_idx) + for (unsigned int u = 0; u < depth_width_; ++u, ++depth_idx) { pcl::PointXYZ& pt = cloud->points[depth_idx]; // Check for invalid measurements @@ -616,10 +616,10 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr cloud->points.resize (cloud->height * cloud->width); //float constant = 1.0f / device_->getImageFocalLength (depth_width_); - register float constant_x = 1.0f / device_->getDepthFocalLength (depth_width_); - register float constant_y = 1.0f / device_->getDepthFocalLength (depth_width_); - register float centerX = ((float)cloud->width - 1.f) / 2.f; - register float centerY = ((float)cloud->height - 1.f) / 2.f; + float constant_x = 1.0f / device_->getDepthFocalLength (depth_width_); + float constant_y = 1.0f / device_->getDepthFocalLength (depth_width_); + float centerX = ((float)cloud->width - 1.f) / 2.f; + float centerY = ((float)cloud->height - 1.f) / 2.f; if (pcl_isfinite (depth_focal_length_x_)) constant_x = 1.0f / static_cast<float> (depth_focal_length_x_); @@ -633,7 +633,7 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr if (pcl_isfinite (depth_principal_point_y_)) centerY = static_cast<float> (depth_principal_point_y_); - register const XnDepthPixel* depth_map = depth_image->getDepthMetaData ().Data (); + const XnDepthPixel* depth_map = depth_image->getDepthMetaData ().Data (); if (depth_image->getWidth () != depth_width_ || depth_image->getHeight() != depth_height_) { if (depth_buffer_size_ < depth_width_ * depth_height_) @@ -674,7 +674,7 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr int point_idx = 0; for (unsigned int v = 0; v < depth_height_; ++v, point_idx += skip) { - for (register unsigned int u = 0; u < depth_width_; ++u, ++value_idx, point_idx += step) + for (unsigned int u = 0; u < depth_width_; ++u, ++value_idx, point_idx += step) { PointT& pt = cloud->points[point_idx]; /// @todo Different values for these cases @@ -731,10 +731,10 @@ pcl::OpenNIGrabber::convertToXYZIPointCloud (const boost::shared_ptr<openni_wrap cloud->points.resize (cloud->height * cloud->width); //float constant = 1.0f / device_->getImageFocalLength (cloud->width); - register float constant_x = 1.0f / device_->getImageFocalLength (cloud->width); - register float constant_y = 1.0f / device_->getImageFocalLength (cloud->width); - register float centerX = ((float)cloud->width - 1.f) / 2.f; - register float centerY = ((float)cloud->height - 1.f) / 2.f; + float constant_x = 1.0f / device_->getImageFocalLength (cloud->width); + float constant_y = 1.0f / device_->getImageFocalLength (cloud->width); + float centerX = ((float)cloud->width - 1.f) / 2.f; + float centerY = ((float)cloud->height - 1.f) / 2.f; if (pcl_isfinite (rgb_focal_length_x_)) constant_x = 1.0f / static_cast<float> (rgb_focal_length_x_); @@ -748,8 +748,8 @@ pcl::OpenNIGrabber::convertToXYZIPointCloud (const boost::shared_ptr<openni_wrap if (pcl_isfinite (rgb_principal_point_y_)) centerY = static_cast<float>(rgb_principal_point_y_); - register const XnDepthPixel* depth_map = depth_image->getDepthMetaData ().Data (); - register const XnIRPixel* ir_map = ir_image->getMetaData ().Data (); + const XnDepthPixel* depth_map = depth_image->getDepthMetaData ().Data (); + const XnIRPixel* ir_map = ir_image->getMetaData ().Data (); if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_) { @@ -767,12 +767,12 @@ pcl::OpenNIGrabber::convertToXYZIPointCloud (const boost::shared_ptr<openni_wrap ir_map = ir_buffer_.get (); } - register int depth_idx = 0; + int depth_idx = 0; float bad_point = std::numeric_limits<float>::quiet_NaN (); for (unsigned int v = 0; v < depth_height_; ++v) { - for (register unsigned int u = 0; u < depth_width_; ++u, ++depth_idx) + for (unsigned int u = 0; u < depth_width_; ++u, ++depth_idx) { pcl::PointXYZI& pt = cloud->points[depth_idx]; /// @todo Different values for these cases diff --git a/keypoints/src/brisk_2d.cpp b/keypoints/src/brisk_2d.cpp index 85369afcf47..8d4f7446ab6 100644 --- a/keypoints/src/brisk_2d.cpp +++ b/keypoints/src/brisk_2d.cpp @@ -1578,9 +1578,9 @@ pcl::keypoints::brisk::Layer::halfsample ( assert (floor (double (srcheight) / 2.0) == dstheight); // mask needed later: - register __m128i mask = _mm_set_epi32 (0x00FF00FF, 0x00FF00FF, 0x00FF00FF, 0x00FF00FF); + __m128i mask = _mm_set_epi32 (0x00FF00FF, 0x00FF00FF, 0x00FF00FF, 0x00FF00FF); // to be added in order to make successive averaging correct: - register __m128i ones = _mm_set_epi32 (0x11111111, 0x11111111, 0x11111111, 0x11111111); + __m128i ones = _mm_set_epi32 (0x11111111, 0x11111111, 0x11111111, 0x11111111); // data pointers: const __m128i* p1 = reinterpret_cast<const __m128i*> (&srcimg[0]); @@ -1742,10 +1742,10 @@ pcl::keypoints::brisk::Layer::twothirdsample ( assert (floor (double (srcheight) / 3.0 * 2.0) == dstheight); // masks: - register __m128i mask1 = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),12,char(0x80),10,char(0x80),7,char(0x80),4,char(0x80),1); - register __m128i mask2 = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),12,char(0x80),10,char(0x80),7,char(0x80),4,char(0x80),1,char(0x80)); - register __m128i mask = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),14,12,11,9,8,6,5,3,2,0); - register __m128i store_mask = _mm_set_epi8 (0x0,0x0,0x0,0x0,0x0,0x0,char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80)); + __m128i mask1 = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),12,char(0x80),10,char(0x80),7,char(0x80),4,char(0x80),1); + __m128i mask2 = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),12,char(0x80),10,char(0x80),7,char(0x80),4,char(0x80),1,char(0x80)); + __m128i mask = _mm_set_epi8 (char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),14,12,11,9,8,6,5,3,2,0); + __m128i store_mask = _mm_set_epi8 (0x0,0x0,0x0,0x0,0x0,0x0,char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80),char(0x80)); // data pointers: const unsigned char* p1 = &srcimg[0];