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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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8
corelib/include/rtabmap/core/DBDriver.h
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@@ -109,7 +109,7 @@ public:
cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
#else
@@ -117,7 +117,7 @@ public:
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
cv::Mat loadOptimizedMesh(
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
#else
@@ -247,7 +247,7 @@ protected:
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
virtual void saveOptimizedMeshQuery(
const cv::Mat & cloud,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
@@ -255,7 +255,7 @@ protected:
#endif
const cv::Mat & textures) const = 0;
virtual cv::Mat loadOptimizedMeshQuery(
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

4
corelib/include/rtabmap/core/DBDriverSqlite3.h
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@@ -113,7 +113,7 @@ protected:
virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
virtual void saveOptimizedMeshQuery(
const cv::Mat & cloud,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
@@ -121,7 +121,7 @@ protected:
#endif
const cv::Mat & textures) const;
virtual cv::Mat loadOptimizedMeshQuery(
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

4
corelib/include/rtabmap/core/Memory.h
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@@ -102,7 +102,7 @@ public:
cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
void saveOptimizedMesh(
const cv::Mat & cloud,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(), // Textures -> polygons -> vertices
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
#else
@@ -110,7 +110,7 @@ public:
#endif
const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
cv::Mat loadOptimizedMesh(
std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
#else

1
corelib/include/rtabmap/core/impl/util3d_surface.hpp
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@@ -9,6 +9,7 @@
#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_
#include <pcl/search/kdtree.h>
#include <pcl/conversions.h>
#include <rtabmap/utilite/UConversion.h>
namespace rtabmap {

13
corelib/include/rtabmap/core/util3d_surface.h
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@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/CameraModel.h>
#include <rtabmap/core/ProgressState.h>
#include <rtabmap/core/LaserScan.h>
#include <rtabmap/core/Version.h>
#include <set>
#include <list>
@@ -177,18 +178,18 @@ pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
void RTABMAP_EXP concatenateTextureMaterials(
pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
std::vector<std::vector<unsigned int> > RTABMAP_EXP convertPolygonsFromPCL(
std::vector<std::vector<RTABMAP_PCL_INDEX> > RTABMAP_EXP convertPolygonsFromPCL(
const std::vector<pcl::Vertices> & polygons);
std::vector<std::vector<std::vector<unsigned int> > > RTABMAP_EXP convertPolygonsFromPCL(
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > RTABMAP_EXP convertPolygonsFromPCL(
const std::vector<std::vector<pcl::Vertices> > & polygons);
std::vector<pcl::Vertices> RTABMAP_EXP convertPolygonsToPCL(
const std::vector<std::vector<unsigned int> > & polygons);
const std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);
std::vector<std::vector<pcl::Vertices> > RTABMAP_EXP convertPolygonsToPCL(
const std::vector<std::vector<std::vector<unsigned int> > > & tex_polygons);
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & tex_polygons);
pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
@@ -199,7 +200,7 @@ pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
pcl::PolygonMesh::Ptr RTABMAP_EXP assemblePolygonMesh(
const cv::Mat & cloudMat,
const std::vector<std::vector<unsigned int> > & polygons);
const std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);
/**
* Merge all textures in the mesh into "textureCount" textures of size "textureSize".