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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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guilib/src/DatabaseViewer.cpp
+3 -3
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@@ -3071,7 +3071,7 @@ void DatabaseViewer::viewOptimizedMesh()
return;
}
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
@@ -3123,7 +3123,7 @@ void DatabaseViewer::exportOptimizedMesh()
return;
}
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
@@ -3331,7 +3331,7 @@ void DatabaseViewer::updateOptimizedMesh()
else if(meshes.size())
{
dbDriver_->saveOptimizedPoses(optimizedPoses, lastlocalizationPose);
std::vector<std::vector<std::vector<unsigned int> > > polygons(1);
std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
polygons.at(0) = util3d::convertPolygonsFromPCL(meshes.at(0)->polygons);
dbDriver_->saveOptimizedMesh(util3d::laserScanFromPointCloud(meshes.at(0)->cloud, false).data(), polygons);
QMessageBox::information(this, tr("Update Optimized Mesh"), tr("Updated!"));