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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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corelib/src/util3d.cpp
+16
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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);
}