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Ported PCL 1.11 deprecated changes to PCL 1.10 (#550)

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This commit is contained in:
matlabbe
2020-05-27 17:45:16 -04:00
parent 8842d0c0e3
commit bf39c5295b
4 changed files with 9 additions and 9 deletions
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4
corelib/src/camera/CameraOpenni.cpp
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@@ -76,7 +76,7 @@ CameraOpenni::~CameraOpenni()
#endif
}
#ifdef RTABMAP_OPENNI
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
void CameraOpenni::image_cb (
const std::shared_ptr<openni_wrapper::Image>& rgb,
const std::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -130,7 +130,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
interface_ = new pcl::OpenNIGrabber(deviceId_);
}
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
std::function<void (
const std::shared_ptr<openni_wrapper::Image>&,
const std::shared_ptr<openni_wrapper::DepthImage>&,

6
corelib/src/util3d.cpp
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@@ -1271,7 +1271,7 @@ 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)
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
std::uint32_t fieldOffsets[8] = {0};
#else
pcl::uint32_t fieldOffsets[8] = {0};
@@ -1440,7 +1440,7 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
else // XYZRGB
{
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#if PCL_VERSION_COMPARE(>=, 1, 10, 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);
@@ -1491,7 +1491,7 @@ LaserScan laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filter
}
else // XYZRGBNormal
{
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#if PCL_VERSION_COMPARE(>=, 1, 10, 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);

6
corelib/src/util3d_surface.cpp
View File

@@ -1007,7 +1007,7 @@ pcl::TextureMesh::Ptr concatenateTextureMeshes(const std::list<pcl::TextureMesh:
// append point cloud
int polygonStep = output->cloud.height * output->cloud.width;
pcl::PCLPointCloud2 tmp;
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(output->cloud, iter->get()->cloud, tmp);
#else
pcl::concatenatePointCloud(output->cloud, iter->get()->cloud, tmp);
@@ -3206,14 +3206,14 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
mls.setComputeNormals (true);
if(polygonialOrder > 0)
{
#if PCL_VERSION_COMPARE(<, 1, 11, 0)
#if PCL_VERSION_COMPARE(<, 1, 10, 0)
mls.setPolynomialFit (true);
#endif
mls.setPolynomialOrder(polygonialOrder);
}
else
{
#if PCL_VERSION_COMPARE(<, 1, 11, 0)
#if PCL_VERSION_COMPARE(<, 1, 10, 0)
mls.setPolynomialFit (false);
#else
mls.setPolynomialOrder(1);