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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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corelib/src/util3d.cpp
+5 -5
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@@ -1389,7 +1389,7 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
}
UASSERT(cloud.data.size()/cloud.point_step == cloud.height*cloud.width);
UASSERT(cloud.data.size()/cloud.point_step == (uint32_t)cloud.height*cloud.width);
cv::Mat laserScan = cv::Mat(1, (int)cloud.data.size()/cloud.point_step, CV_32FC(LaserScan::channels(format)));
bool transformValid = !transform.isNull() && !transform.isIdentity();
@@ -1399,10 +1399,10 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
transformRot = transform.rotation();
}
int oi=0;
for (uint32_t row = 0; row < cloud.height; ++row)
for (uint32_t row = 0; row < (uint32_t)cloud.height; ++row)
{
const uint8_t* row_data = &cloud.data[row * cloud.row_step];
for (uint32_t col = 0; col < cloud.width; ++col)
for (uint32_t col = 0; col < (uint32_t)cloud.width; ++col)
{
const uint8_t* msg_data = row_data + col * cloud.point_step;
@@ -2918,10 +2918,10 @@ cv::Mat projectCloudToCamera(
int count = 0;
if(field_map.size() == 1)
{
for (uint32_t row = 0; row < laserScan->height; ++row)
for (uint32_t row = 0; row < (uint32_t)laserScan->height; ++row)
{
const uint8_t* row_data = &laserScan->data[row * laserScan->row_step];
for (uint32_t col = 0; col < laserScan->width; ++col)
for (uint32_t col = 0; col < (uint32_t)laserScan->width; ++col)
{
const uint8_t* msg_data = row_data + col * laserScan->point_step;
pcl::PointXYZ ptScan;