Fix errors found by clang

Signed-off-by: Evan Flynn <[email protected]>

Author: flynneva

CMakeLists.txt

@@ -65,6 +65,9 @@ rclcpp_components_register_node(${PROJECT_NAME}_node
   EXECUTABLE ${PROJECT_NAME}_node_exe
 )
 
+# To fix `DSO missing from command line` error with clang
+target_link_libraries(${PROJECT_NAME}_node_exe stdc++)
+
 if(SANITIZE)
   target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
   target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
@@ -81,11 +84,11 @@ if(BUILD_TESTING)
   ament_add_gtest(test_usb_cam_utils
     test/test_usb_cam_utils.cpp)
   target_link_libraries(test_usb_cam_utils
-    ${PROJECT_NAME})
+    ${PROJECT_NAME} m stdc++)
   ament_add_gtest(test_pixel_formats
     test/test_pixel_formats.cpp)
   target_link_libraries(test_pixel_formats
-    ${PROJECT_NAME})
+    ${PROJECT_NAME} m stdc++)
   if(INTEGRATION_TESTS)
     ament_add_gtest(test_usb_cam_lib
       test/test_usb_cam_lib.cpp)

include/usb_cam/formats/mjpeg.hpp

@@ -243,8 +243,6 @@ class MJPEG2RGB : public pixel_format_base
   size_t m_avframe_rgb_size;
   char * m_averror_str;
   int m_result = 0;
-  int m_counter = 0;
-  const int * m_linesize;
 
   const int m_align = 32;
 };

include/usb_cam/formats/pixel_format_base.hpp

@@ -50,11 +50,11 @@ namespace formats
 /// arguments for future pixel format(s) that are added.
 typedef struct
 {
-  std::string name = "";
-  int width = 640;
-  int height = 480;
-  size_t pixels = 640 * 480;
-  std::string av_device_format_str = "AV_PIX_FMT_YUV422P";
+  std::string name;
+  int width;
+  int height;
+  size_t pixels;
+  std::string av_device_format_str;
 } format_arguments_t;
 
 
@@ -74,6 +74,8 @@ class pixel_format_base
     m_requires_conversion(requires_conversion)
   {}
 
+  virtual ~pixel_format_base() {}
+
   /// @brief Name of pixel format. Used in the parameters file to select this format
   /// @return
   inline std::string name() {return m_name;}

include/usb_cam/usb_cam.hpp

@@ -96,38 +96,63 @@ std::vector<std::shared_ptr<pixel_format_base>> driver_supported_formats(
   return fmts;
 }
 
-typedef struct
+typedef struct capture_format_t
 {
   struct v4l2_fmtdesc format;
   struct v4l2_frmivalenum v4l2_fmt;
 } capture_format_t;
 
-typedef struct
+typedef struct parameters_t
 {
-  std::string camera_name = "usb_cam";  // can be anything
-  std::string device_name = "/dev/video0";  // usually /dev/video0 or something similiar
-  std::string frame_id = "camera";
-  std::string io_method_name = "mmap";
-  std::string camera_info_url = "package://usb_cam/config/camera_info.yaml";
-  std::string pixel_format_name = "yuyv2rgb";
-  std::string av_device_format = "YUV422P";
-  int image_width = 600;
-  int image_height = 400;
-  int framerate = 30.0;
-  int brightness = -1;
-  int contrast = -1;
-  int saturation = -1;
-  int sharpness = -1;
-  int gain = -1;
-  int white_balance = -1;
-  int exposure = -1;
-  int focus = -1;
-  bool auto_white_balance = true;
-  bool autoexposure = true;
-  bool autofocus = false;
+  std::string camera_name;
+  std::string device_name;
+  std::string frame_id;
+  std::string io_method_name;
+  std::string camera_info_url;
+  std::string pixel_format_name;
+  std::string av_device_format;
+  int image_width;
+  int image_height;
+  int framerate;
+  int brightness;
+  int contrast;
+  int saturation;
+  int sharpness;
+  int gain;
+  int white_balance;
+  int exposure;
+  int focus;
+  bool auto_white_balance;
+  bool autoexposure;
+  bool autofocus;
+
+  parameters_t()
+    : camera_name("usb_cam"),
+    device_name("/dev/video0"),
+    frame_id("camera"),
+    io_method_name("mmap"),
+    camera_info_url("package://usb_cam/config/camera_info.yaml"),
+    pixel_format_name("yuyv2rgb"),
+    av_device_format("YUV422P"),
+    image_width(600),
+    image_height(480),
+    framerate(30.0),
+    brightness(-1),
+    contrast(-1),
+    saturation(-1),
+    sharpness(-1),
+    gain(-1),
+    white_balance(-1),
+    exposure(-1),
+    focus(-1),
+    auto_white_balance(true),
+    autoexposure(true),
+    autofocus(false)
+  {
+  }
 } parameters_t;
 
-typedef struct
+typedef struct image_t
 {
   char * data;
   size_t width;
@@ -396,13 +421,10 @@ class UsbCam
   image_t m_image;
 
   AVFrame * m_avframe;
-  int m_avframe_size;
   AVCodec * m_avcodec;
-  AVCodecID m_codec_id;
   AVDictionary * m_avoptions;
   AVCodecContext * m_avcodec_context;
 
-  int64_t m_buffer_time_us;
   bool m_is_capturing;
   int m_framerate;
   const time_t m_epoch_time_shift_us;