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Fixed build with pcl 1.11 (#550). Fixed pcl 1.11 warnings (boost->std).

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This commit is contained in:
matlabbe
2020-05-27 16:35:33 -04:00
parent ae5ce029d6
commit 511be5f663
10 changed files with 54 additions and 2 deletions
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7
corelib/include/rtabmap/core/camera/CameraOpenni.h
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@@ -69,10 +69,17 @@ public:
const Transform & localTransform = Transform::getIdentity());
virtual ~CameraOpenni();
#ifdef RTABMAP_OPENNI
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
void image_cb (
const std::shared_ptr<openni_wrapper::Image>& rgb,
const std::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
#else
void image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant);
#endif
#endif
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

1
corelib/src/Graph.cpp
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <pcl/search/kdtree.h>
#include <pcl/common/eigen.h>
#include <pcl/common/common.h>
#include <pcl/common/point_tests.h>
#include <set>
#include <queue>
#include <fstream>

14
corelib/src/camera/CameraOpenni.cpp
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@@ -76,10 +76,17 @@ CameraOpenni::~CameraOpenni()
#endif
}
#ifdef RTABMAP_OPENNI
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
void CameraOpenni::image_cb (
const std::shared_ptr<openni_wrapper::Image>& rgb,
const std::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant)
#else
void CameraOpenni::image_cb (
const boost::shared_ptr<openni_wrapper::Image>& rgb,
const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
float constant)
#endif
{
UScopeMutex s(dataMutex_);
@@ -123,10 +130,17 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
interface_ = new pcl::OpenNIGrabber(deviceId_);
}
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
std::function<void (
const std::shared_ptr<openni_wrapper::Image>&,
const std::shared_ptr<openni_wrapper::DepthImage>&,
float)> f = std::bind (&CameraOpenni::image_cb, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
#else
boost::function<void (
const boost::shared_ptr<openni_wrapper::Image>&,
const boost::shared_ptr<openni_wrapper::DepthImage>&,
float)> f = boost::bind (&CameraOpenni::image_cb, this, _1, _2, _3);
#endif
connection_ = interface_->registerCallback (f);
interface_->start ();

1
corelib/src/clams/frame_projector.cpp
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@@ -33,6 +33,7 @@ RTAB-Map integration: Mathieu Labbe
#include <rtabmap/core/util3d.h>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <pcl/common/point_tests.h>
using namespace std;
using namespace Eigen;

16
corelib/src/util3d.cpp
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@@ -1271,7 +1271,11 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
//determine the output type
int fieldStates[8] = {0}; // x,y,z,normal_x,normal_y,normal_z,rgb,intensity
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
std::uint32_t fieldOffsets[8] = {0};
#else
pcl::uint32_t fieldOffsets[8] = {0};
#endif
for(unsigned int i=0; i<cloud.fields.size(); ++i)
{
if(cloud.fields[i].name.compare("x") == 0)
@@ -1436,9 +1440,15 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
else // XYZRGB
{
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
std::uint8_t b=*(msg_data + fieldOffsets[6]);
std::uint8_t g=*(msg_data + fieldOffsets[6]+1);
std::uint8_t r=*(msg_data + fieldOffsets[6]+2);
#else
pcl::uint8_t b=*(msg_data + fieldOffsets[6]);
pcl::uint8_t g=*(msg_data + fieldOffsets[6]+1);
pcl::uint8_t r=*(msg_data + fieldOffsets[6]+2);
#endif
int * ptrInt = (int*)ptr;
ptrInt[3] = int(b) | (int(g) << 8) | (int(r) << 16);
}
@@ -1481,9 +1491,15 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
else // XYZRGBNormal
{
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
std::uint8_t b=*(msg_data + fieldOffsets[6]);
std::uint8_t g=*(msg_data + fieldOffsets[6]+1);
std::uint8_t r=*(msg_data + fieldOffsets[6]+2);
#else
pcl::uint8_t b=*(msg_data + fieldOffsets[6]);
pcl::uint8_t g=*(msg_data + fieldOffsets[6]+1);
pcl::uint8_t r=*(msg_data + fieldOffsets[6]+2);
#endif
int * ptrInt = (int*)ptr;
ptrInt[3] = int(b) | (int(g) << 8) | (int(r) << 16);
}

1
corelib/src/util3d_correspondences.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/EpipolarGeometry.h>
#include <opencv2/calib3d/calib3d.hpp>
#include <pcl/search/kdtree.h>
#include <pcl/common/point_tests.h>
namespace rtabmap
{

2
corelib/src/util3d_features.cpp
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@@ -41,6 +41,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UMath.h>
#include <rtabmap/utilite/UStl.h>
#include <pcl/common/point_tests.h>
#include <opencv2/video/tracking.hpp>
namespace rtabmap

10
corelib/src/util3d_surface.cpp
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@@ -1007,7 +1007,11 @@ pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh:
// append point cloud
int polygonStep = output->cloud.height * output->cloud.width;
pcl::PCLPointCloud2 tmp;
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
pcl::concatenate(output->cloud, iter->get()->cloud, tmp);
#else
pcl::concatenatePointCloud(output->cloud, iter->get()->cloud, tmp);
#endif
output->cloud = tmp;
UASSERT((*iter)->tex_polygons.size() == (*iter)->tex_coordinates.size() &&
@@ -3202,12 +3206,18 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
mls.setComputeNormals (true);
if(polygonialOrder > 0)
{
#if PCL_VERSION_COMPARE(<, 1, 11, 0)
mls.setPolynomialFit (true);
#endif
mls.setPolynomialOrder(polygonialOrder);
}
else
{
#if PCL_VERSION_COMPARE(<, 1, 11, 0)
mls.setPolynomialFit (false);
#else
mls.setPolynomialOrder(1);
#endif
}
UASSERT(upsamplingMethod >= mls.NONE &&
upsamplingMethod <= mls.VOXEL_GRID_DILATION);