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chore: Remove glog deps

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This commit is contained in:
Joe Dong
2024-06-19 10:40:57 +08:00
parent 3f6ba4f07c
commit 4e7fb8c209
9 changed files with 64 additions and 11 deletions
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orbbec_camera/include/orbbec_camera/utils.h
+58 -1
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@@ -16,7 +16,6 @@
#pragma once
#include <ostream>
#include <glog/logging.h>
#include <Eigen/Dense>
#include <tf2/LinearMath/Quaternion.h>
#include <rclcpp/rclcpp.hpp>
@@ -28,6 +27,64 @@
#include "magic_enum/magic_enum.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
namespace orbbec_camera {
inline void LogFatal(const char *file, int line, const std::string &message) {
std::cerr << "Check failed at " << file << ":" << line << ": " << message << std::endl;
std::abort();
}
} // namespace orbbec_camera
// Macros for checking conditions and comparing values
#define CHECK(condition) \
(!(condition) ? LogFatal(__FILE__, __LINE__, "Check failed: " #condition) : (void)0)
template <typename T1, typename T2>
void CheckOp(const char *expr, const char *file, int line, T1 val1, T2 val2, bool result) {
if (!result) {
std::ostringstream os;
os << "Check failed: " << expr << " (" << val1 << " vs. " << val2 << ")";
orbbec_camera::LogFatal(file, line, os.str());
}
}
#define CHECK_OP(opname, op, val1, val2) \
CheckOp(#val1 " " #op " " #val2, __FILE__, __LINE__, val1, val2, (val1)op(val2))
#define CHECK_EQ(val1, val2) CHECK_OP(_EQ, ==, val1, val2)
#define CHECK_NE(val1, val2) CHECK_OP(_NE, !=, val1, val2)
#define CHECK_LE(val1, val2) CHECK_OP(_LE, <=, val1, val2)
#define CHECK_LT(val1, val2) CHECK_OP(_LT, <, val1, val2)
#define CHECK_GE(val1, val2) CHECK_OP(_GE, >=, val1, val2)
#define CHECK_GT(val1, val2) CHECK_OP(_GT, >, val1, val2)
// Overload for raw pointers
template <typename T>
T *CheckNotNull(T *ptr, const char *file, int line) {
if (ptr == nullptr) {
std::ostringstream os;
os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
orbbec_camera::LogFatal(file, line, os.str());
}
return ptr;
}
// Template for smart pointers like std::shared_ptr, std::unique_ptr
template <typename T>
T &CheckNotNull(T &ptr, const char *file, int line) {
if (ptr == nullptr) {
std::ostringstream os;
os << "Null pointer passed to CheckNotNull at " << file << ":" << line;
orbbec_camera::LogFatal(file, line, os.str());
}
return ptr;
}
#if defined(CHECK_NOTNULL)
#undef CHECK_NOTNULL
#endif
#define CHECK_NOTNULL(val) CheckNotNull(val, __FILE__, __LINE__)
namespace orbbec_camera {
sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
OBCameraDistortion distortion, int width);