fixed formatting and cmake

captjulian · Dec 1, 2020 · 16fd627 · 16fd627
1 parent b3219b3
commit 16fd627
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Showing 2 changed files with 48 additions and 56 deletions.
diff --git a/flightlib/CMakeLists.txt b/flightlib/CMakeLists.txt
@@ -50,13 +50,6 @@ include(cmake/yaml.cmake)
 find_package(OpenCV REQUIRED)
 find_package(OpenMP REQUIRED)
 
-if(OPENMP_FOUND)
-     message("OPENMP FOUND")
-     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
-     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
-     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
-endif()
-
 if(ENABLE_BLAS)
   set(BLA_VENDOR "Generic")
   find_package(BLAS REQUIRED)
@@ -209,7 +202,6 @@ else()
   add_library(${PROJECT_NAME} ${FLIGHTLIB_SOURCES})
   target_link_libraries(${PROJECT_NAME} PRIVATE
     ${OpenCV_LIBRARIES}
-    openmp
     yaml-cpp
     zmq
     zmqpp

diff --git a/flightlib/src/bridges/unity_bridge.cpp b/flightlib/src/bridges/unity_bridge.cpp
@@ -217,55 +217,55 @@ bool UnityBridge::handleOutput() {
            layer_idx++) {
         if (!layer_idx == 0 && !cam.enabled_layers[layer_idx - 1]) continue;
 
-	if(layer_idx==1)
-	{
-	  // depth
-	  uint32_t image_len = cam.width * cam.height * 4;
-	  // Get raw image bytes from ZMQ message.
-	  // WARNING: This is a zero-copy operation that also casts the input to
-	  // an array of unit8_t. when the message is deleted, this pointer is
-	  // also dereferenced.
-	  const uint8_t* image_data;
-	  msg.get(image_data, image_i);
-	  image_i = image_i + 1;
-	  // Pack image into cv::Mat
-	  cv::Mat new_image =
-	      cv::Mat(cam.height, cam.width, CV_32FC1);
-	  memcpy(new_image.data, image_data, image_len);
-	  // Flip image since OpenCV origin is upper left, but Unity's is lower
-	  // left.
-	  new_image = new_image * (100.f);
-	  cv::flip(new_image, new_image, 0);
-
-
-	  unity_quadrotors_[idx]->getCameras()[cam.output_index]->feedImageQueue(
-	      layer_idx, new_image);
-
-
-	}else{
-	uint32_t image_len = cam.width * cam.height * cam.channels;
-        // Get raw image bytes from ZMQ message.
-        // WARNING: This is a zero-copy operation that also casts the input to
-        // an array of unit8_t. when the message is deleted, this pointer is
-        // also dereferenced.
-        const uint8_t* image_data;
-        msg.get(image_data, image_i);
-        image_i = image_i + 1;
-        // Pack image into cv::Mat
-        cv::Mat new_image =
-          cv::Mat(cam.height, cam.width, CV_MAKETYPE(CV_8U, cam.channels));
-        memcpy(new_image.data, image_data, image_len);
-        // Flip image since OpenCV origin is upper left, but Unity's is lower
-        // left.
-        cv::flip(new_image, new_image, 0);
-
-        // Tell OpenCv that the input is RGB.
-        if (cam.channels == 3) {
-          cv::cvtColor(new_image, new_image, CV_RGB2BGR);
+        if (layer_idx == 1) {
+          // depth
+          uint32_t image_len = cam.width * cam.height * 4;
+          // Get raw image bytes from ZMQ message.
+          // WARNING: This is a zero-copy operation that also casts the input to
+          // an array of unit8_t. when the message is deleted, this pointer is
+          // also dereferenced.
+          const uint8_t* image_data;
+          msg.get(image_data, image_i);
+          image_i = image_i + 1;
+          // Pack image into cv::Mat
+          cv::Mat new_image = cv::Mat(cam.height, cam.width, CV_32FC1);
+          memcpy(new_image.data, image_data, image_len);
+          // Flip image since OpenCV origin is upper left, but Unity's is lower
+          // left.
+          new_image = new_image * (100.f);
+          cv::flip(new_image, new_image, 0);
+
+
+          unity_quadrotors_[idx]
+            ->getCameras()[cam.output_index]
+            ->feedImageQueue(layer_idx, new_image);
+
+
+        } else {
+          uint32_t image_len = cam.width * cam.height * cam.channels;
+          // Get raw image bytes from ZMQ message.
+          // WARNING: This is a zero-copy operation that also casts the input to
+          // an array of unit8_t. when the message is deleted, this pointer is
+          // also dereferenced.
+          const uint8_t* image_data;
+          msg.get(image_data, image_i);
+          image_i = image_i + 1;
+          // Pack image into cv::Mat
+          cv::Mat new_image =
+            cv::Mat(cam.height, cam.width, CV_MAKETYPE(CV_8U, cam.channels));
+          memcpy(new_image.data, image_data, image_len);
+          // Flip image since OpenCV origin is upper left, but Unity's is lower
+          // left.
+          cv::flip(new_image, new_image, 0);
+
+          // Tell OpenCv that the input is RGB.
+          if (cam.channels == 3) {
+            cv::cvtColor(new_image, new_image, CV_RGB2BGR);
+          }
+          unity_quadrotors_[idx]
+            ->getCameras()[cam.output_index]
+            ->feedImageQueue(layer_idx, new_image);
         }
-        unity_quadrotors_[idx]->getCameras()[cam.output_index]->feedImageQueue(
-          layer_idx, new_image);
-	}
       }
     }
   }