opt code

Author: KingRichord

infinite_sense_core/include/image.h

@@ -72,33 +72,6 @@ struct GMatType {
   enum { Type = ((GElement<EleType>::Type & 0x7) + ((channelSize - 1) << 3)) };
 };
 
-struct UMatData  // for OpenCV Version 3
-{
-  enum {
-    COPY_ON_MAP = 1,
-    HOST_COPY_OBSOLETE = 2,
-    DEVICE_COPY_OBSOLETE = 4,
-    TEMP_UMAT = 8,
-    TEMP_COPIED_UMAT = 24,
-    USER_ALLOCATED = 32,
-    DEVICE_MEM_MAPPED = 64
-  };
-  const void* prev_allocator;
-  const void* curr_allocator;
-  int ref_count;
-  int refcount;
-  uchar* data;
-  uchar* orig_data;
-  size_t size;
-
-  int flags;
-  void* handle;
-  void* userdata;
-  int allocator_flags;
-  int map_count;
-  UMatData* original_u_mat_data;
-};
-
 class GMat {
  public:
   GMat();
@@ -150,7 +123,6 @@ class GMat {
   static void* FastMalloc(size_t size, int image_align = 16);
   static void FastFree(void* ptr);
   static size_t AlignSize(size_t sz, int n);
-  static void Deallocate(UMatData* u);
 
  public:
   int cols, rows, flags;

infinite_sense_core/src/image.cpp

@@ -81,22 +81,6 @@ void GMat::Release() {
     FastFree(data);
     ref_count = nullptr;
     data = nullptr;
-  } else  // OpenCV3 style
-  {
-    if (auto* u = reinterpret_cast<UMatData*>(reinterpret_cast<uchar*>(ref_count) - offsetof(UMatData, refcount));
-        u->userdata == data + align_bytes) {
-      // this is allocated by GMat, we need minus both refcount
-      ref_count = static_cast<int*>(u->userdata);
-      if (CvXAdd(ref_count, -1) == 1) {
-        return Release();
-      }
-    } else {
-      assert(u->size == total_bytes);
-      Deallocate(u);
-    }
-    cols = rows = 0;
-    ref_count = nullptr;
-    data = nullptr;
   }
 }
 
@@ -134,22 +118,4 @@ size_t GMat::AlignSize(const size_t sz, const int n) {
   assert((n & (n - 1)) == 0);  // n is a power of 2
   return (sz + n - 1) & -n;
 }
-
-void GMat::Deallocate(UMatData* u)  // for OpenCV Version 3
-{
-  if (!u) {
-    return;
-  }
-  assert(u->ref_count == 0);
-  assert(u->refcount == 0);
-  if (!(u->flags & UMatData::USER_ALLOCATED)) {
-    const uchar* udata = reinterpret_cast<uchar**>(u->orig_data)[-1];
-    if (const int n = u->orig_data - udata; (n & (n - 1)) == 0 && n >= 0 && n <= 32) {
-      FastFree(u->orig_data);
-    } else
-      free(u->orig_data);
-    u->orig_data = nullptr;
-  }
-  delete u;
-}
 }  // namespace infinite_sense

infinite_sense_core/src/messenger.cpp

@@ -11,7 +11,6 @@ Messenger::Messenger() {
     subscriber_ = zmq::socket_t(context_, zmq::socket_type::sub);
     publisher_.bind(endpoint_);
     subscriber_.connect(endpoint_);
-
     LOG(INFO) << "Link Net: " << endpoint_;
   } catch (const zmq::error_t& e) {
     LOG(ERROR) << "Net initialization error: " << e.what();

infinite_sense_core/src/net.cpp

@@ -5,7 +5,8 @@
 
 namespace infinite_sense {
 
-NetManager::NetManager(std::string target_ip, unsigned short port) : port_(port), target_ip_(std::move(target_ip)) {
+NetManager::NetManager(std::string target_ip, const unsigned short port)
+    : port_(port), target_ip_(std::move(target_ip)) {
   net_ptr_ = std::make_shared<UDPSocket>();
   const uint64_t curr_time = static_cast<uint64_t>(
       std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now().time_since_epoch())

infinite_sense_core/src/usb.cpp

@@ -5,7 +5,7 @@
 
 namespace infinite_sense {
 
-UsbManager::UsbManager(std::string port, const int baud_rate) : port_(std::move(port)), started_(false) {
+UsbManager::UsbManager(std::string port, const int baud_rate) : port_(std::move(port)) {
   serial_ptr_ = std::make_unique<serial::Serial>();
   try {
     serial_ptr_->setPort(port_);