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Fixed build with pcl > 1.11.1 (#641)

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This commit is contained in:
matlabbe
2020-11-14 16:52:01 -05:00
parent f9abcf9e35
commit 54e2688a1d
17 changed files with 75 additions and 49 deletions
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12
app/android/jni/RTABMapApp.cpp
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@@ -308,7 +308,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
optRefPose_ = 0;
}
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
@@ -2902,7 +2902,7 @@ bool RTABMapApp::exportMesh(
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database
std::vector<std::vector<std::vector<unsigned int> > > polygons(1);
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
polygons[0].resize(polygonMesh->polygons.size());
for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
{
@@ -2921,7 +2921,7 @@ bool RTABMapApp::exportMesh(
cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false)); // for database
// save in database
std::vector<std::vector<std::vector<unsigned int> > > polygons(textureMesh->tex_polygons.size());
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
{
polygons[t].resize(textureMesh->tex_polygons[t].size());
@@ -3114,7 +3114,7 @@ bool RTABMapApp::postExportation(bool visualize)
{
visualizingMesh_ = false;
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
@@ -3171,7 +3171,7 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
cv::Mat cloudMat;
std::vector<std::vector<std::vector<unsigned int> > > polygons;
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
#else
@@ -3186,7 +3186,7 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
LOGI("writeExportedMesh: Found optimized mesh!");
if(textures.empty())
{
polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<unsigned int> >());
polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<RTABMAP_PCL_INDEX> >());
}
else
{