From 16ffcc76843182ad873562b70a0abc30c685d8e4 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 11 Sep 2017 20:59:36 -0400
Subject: [PATCH] DatabaseViewer: just show single axis on constraint viewer if
 built with PCL < 1.7.2

---
 guilib/src/DatabaseViewer.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index 60fb5352..e95a2e0e 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -3805,8 +3805,8 @@ void DatabaseViewer::updateConstraintView(
 		}
 
 		//update coordinate
-
 		constraintsViewer_->addOrUpdateCoordinate("from_coordinate", pose, 0.2);
+#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
 		constraintsViewer_->addOrUpdateCoordinate("to_coordinate", pose*t, 0.2);
 		constraintsViewer_->removeCoordinate("to_coordinate_gt");
 		if(uContains(groundTruthPoses_, link.from()) && uContains(groundTruthPoses_, link.to()))
@@ -3814,6 +3814,7 @@ void DatabaseViewer::updateConstraintView(
 			constraintsViewer_->addOrUpdateCoordinate("to_coordinate_gt",
 					pose*(groundTruthPoses_.at(link.from()).inverse()*groundTruthPoses_.at(link.to())), 0.1);
 		}
+#endif
 
 		constraintsViewer_->clearTrajectory();