Removed Boost dependency (#909)

Removed Boost dependency. Related with
#407

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

image_view/CMakeLists.txt

@@ -12,7 +12,6 @@ endif()
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-find_package(Boost REQUIRED)
 find_package(OpenCV REQUIRED)
 
 # Deal with the GUI's
@@ -30,7 +29,6 @@ ament_auto_add_library(${PROJECT_NAME}_nodes SHARED
 )
 target_link_libraries(${PROJECT_NAME}_nodes
  ${OpenCV_LIBRARIES}
- ${Boost_LIBRARIES}
 )
 target_compile_definitions(${PROJECT_NAME}_nodes
  PRIVATE "COMPOSITION_BUILDING_DLL"

image_view/include/image_view/extract_images_node.hpp

@@ -56,8 +56,6 @@
 #include <image_transport/image_transport.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <boost/format.hpp>
-
 namespace image_view
 {
 
@@ -74,7 +72,7 @@ class ExtractImagesNode
  std::mutex image_mutex_;
 
  std::string window_name_;
- boost::format filename_format_;
+ std::string filename_format_;
  int count_;
  rclcpp::Time _time;
  double sec_per_frame_;

image_view/include/image_view/image_saver_node.hpp

@@ -52,8 +52,6 @@
 #include <memory>
 #include <string>
 
-#include <boost/format.hpp>
-
 #include <rclcpp/rclcpp.hpp>
 #include <image_transport/image_transport.hpp>
 #include <std_srvs/srv/empty.hpp>
@@ -69,7 +67,7 @@ class ImageSaverNode
  explicit ImageSaverNode(const rclcpp::NodeOptions & options);
 
 private:
- boost::format g_format;
+ std::string g_format;
  bool stamped_filename_;
  bool save_all_image_{false};
  bool save_image_service_{false};

image_view/include/image_view/image_view_node.hpp

@@ -28,8 +28,6 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <image_transport/image_transport.hpp>
 
-#include <boost/format.hpp>
-
 namespace image_view
 {
 
@@ -61,7 +59,7 @@ class ImageViewNode
  bool autosize_;
  int window_height_, window_width_;
  bool g_gui;
- boost::format filename_format_;
+ std::string filename_format_;
  image_transport::Subscriber sub_;
  int count_;
  double min_image_value_, max_image_value_;

image_view/include/image_view/stereo_view_node.hpp

@@ -51,6 +51,7 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
 
 #include "message_filters/subscriber.h"
 #include "message_filters/sync_policies/approximate_time.h"
@@ -63,8 +64,6 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <stereo_msgs/msg/disparity_image.hpp>
 
-#include <boost/format.hpp>
-
 namespace image_view
 {
 
@@ -101,7 +100,7 @@ class StereoViewNode
  cv::Mat_<cv::Vec3b> disparity_color_;
  std::mutex image_mutex_;
 
- boost::format filename_format_;
+ std::string filename_format_;
  int save_count_;
 
  rclcpp::TimerBase::SharedPtr check_synced_timer_;

image_view/src/extract_images_node.cpp

@@ -59,9 +59,8 @@
 #include <rclcpp_components/register_node_macro.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
-#include <boost/format.hpp>
-
 #include "image_view/extract_images_node.hpp"
+#include "utils.hpp"
 
 namespace image_view
 {
@@ -95,8 +94,7 @@ ExtractImagesNode::ExtractImagesNode(const rclcpp::NodeOptions & options)
  }
 
  this->declare_parameter<std::string>("filename_format", std::string("frame%04i.jpg"));
- std::string format_string = this->get_parameter("filename_format").as_string();
- filename_format_.parse(format_string);
+ filename_format_ = this->get_parameter("filename_format").as_string();
 
  this->declare_parameter<double>("sec_per_frame", 0.1);
  sec_per_frame_ = this->get_parameter("sec_per_frame").as_double();
@@ -130,7 +128,7 @@ void ExtractImagesNode::image_cb(const sensor_msgs::msg::Image::ConstSharedPtr &
  _time = this->now();
 
  if (!image.empty()) {
- std::string filename = (filename_format_ % count_).str();
+ std::string filename = string_format(filename_format_, count_);
 
  cv::imwrite(filename, image);
 

image_view/src/image_saver_node.cpp

@@ -55,7 +55,6 @@
 
 #include "image_view/image_saver_node.hpp"
 
-#include <boost/format.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
 #include <rclcpp/rclcpp.hpp>
@@ -65,6 +64,8 @@
 #include <std_srvs/srv/empty.hpp>
 #include <std_srvs/srv/trigger.hpp>
 
+#include "utils.hpp"
+
 namespace image_view
 {
 
@@ -92,13 +93,11 @@ ImageSaverNode::ImageSaverNode(const rclcpp::NodeOptions & options)
  &ImageSaverNode::callbackWithoutCameraInfo, this, std::placeholders::_1),
  hints.getTransport());
 
- std::string format_string;
- format_string = this->declare_parameter("filename_format", std::string("left%04i.%s"));
+ g_format = this->declare_parameter("filename_format", std::string("left%04i.%s"));
  encoding_ = this->declare_parameter("encoding", std::string("bgr8"));
  save_all_image_ = this->declare_parameter("save_all_image", true);
  stamped_filename_ = this->declare_parameter("stamped_filename", false);
  request_start_end_ = this->declare_parameter("request_start_end", false);
- g_format.parse(format_string);
 
  save_srv_ = this->create_service<std_srvs::srv::Empty>(
  "save",
@@ -131,23 +130,7 @@ bool ImageSaverNode::saveImage(
  }
 
  if (!image.empty()) {
- try {
- filename = (g_format).str();
- } catch (...) {
- g_format.clear();
- }
-
- try {
- filename = (g_format % count_).str();
- } catch (...) {
- g_format.clear();
- }
-
- try {
- filename = (g_format % count_ % "jpg").str();
- } catch (...) {
- g_format.clear();
- }
+ filename = string_format(g_format, count_, "jpg");
 
  if (save_all_image_ || save_image_service_) {
  if (stamped_filename_) {

image_view/src/image_view_node.cpp

@@ -58,14 +58,15 @@
 
 #include "image_view/image_view_node.hpp"
 
-#include <boost/format.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
 #include <rclcpp/rclcpp.hpp>
 #include <image_transport/image_transport.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <std_msgs/msg/header.hpp>
 
+#include "utils.hpp"
+
 namespace image_view
 {
 
@@ -135,9 +136,8 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
  autosize_ = this->declare_parameter("autosize", false);
  window_height_ = this->declare_parameter("height", -1);
  window_width_ = this->declare_parameter("width", -1);
- std::string format_string =
+ filename_format_ =
  this->declare_parameter("filename_format", std::string("frame%04i.jpg"));
- filename_format_.parse(format_string);
 
  rcl_interfaces::msg::ParameterDescriptor colormap_paramDescriptor;
  colormap_paramDescriptor.name = "colormap";
@@ -253,7 +253,7 @@ void ImageViewNode::mouseCb(int event, int /* x */, int /* y */, int /* flags */
  return;
  }
 
- std::string filename = (this_->filename_format_ % this_->count_).str();
+ std::string filename = string_format(this_->filename_format_, this_->count_);
 
  if (cv::imwrite(filename, image->image)) {
  RCLCPP_INFO(this_->get_logger(), "Saved image %s", filename.c_str());

image_view/src/stereo_view_node.cpp

@@ -60,7 +60,6 @@
 
 #include "image_view/stereo_view_node.hpp"
 
-#include <boost/format.hpp>
 #include <opencv2/highgui/highgui.hpp>
 
 #include <rclcpp/rclcpp.hpp>
@@ -70,6 +69,8 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <stereo_msgs/msg/disparity_image.hpp>
 
+#include "utils.hpp"
+
 namespace image_view
 {
 
@@ -94,8 +95,7 @@ StereoViewNode::StereoViewNode(const rclcpp::NodeOptions & options)
  bool autosize = this->declare_parameter("autosize", true);
 
  this->declare_parameter<std::string>("filename_format", std::string("frame%04i.jpg"));
- std::string format_string = this->get_parameter("filename_format").as_string();
- filename_format_.parse(format_string);
+ filename_format_ = this->get_parameter("filename_format").as_string();
 
  // TransportHints does not actually declare the parameter
  this->declare_parameter<std::string>("image_transport", std::string("raw"));
@@ -265,7 +265,7 @@ void StereoViewNode::imageCb(
 void StereoViewNode::saveImage(const char * prefix, const cv::Mat & image)
 {
  if (!image.empty()) {
- std::string filename = (filename_format_ % prefix % save_count_).str();
+ std::string filename = string_format(filename_format_, prefix, save_count_);
  cv::imwrite(filename, image);
  RCLCPP_INFO(this->get_logger(), "Saved image %s", filename.c_str());
  } else {

image_view/src/utils.hpp

@@ -0,0 +1,41 @@
+// Copyright 2024 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+// http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef UTILS_HPP_
+#define UTILS_HPP_
+
+#include <memory>
+#include <string>
+#include <stdexcept>
+
+namespace image_view
+{
+// TODO(ahcorde): Use std::format when C++20 is available
+template<typename ... Args>
+std::string string_format(const std::string & format, Args ... args)
+{
+ // Extra space for '\0'
+ int size_s = std::snprintf(nullptr, 0, format.c_str(), args ...) + 1;
+ if (size_s <= 0) {
+ throw std::runtime_error("Error during formatting.");
+ }
+ auto size = static_cast<size_t>(size_s);
+ std::unique_ptr<char[]> buf(new char[size]);
+ std::snprintf(buf.get(), size, format.c_str(), args ...);
+ // We don't want the '\0' inside
+ return std::string(buf.get(), buf.get() + size - 1);
+}
+} // namespace image_view
+
+#endif // UTILS_HPP_