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Fixed windows build

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This commit is contained in:
Mathieu Labbé
2015-05-26 16:27:54 -04:00
parent e6923daf1c
commit d273ce1094
3 changed files with 15 additions and 35 deletions
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4
corelib/src/util2d.cpp
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@@ -228,7 +228,7 @@ float getDepth(
int u_end = std::min(u+1, depthImage.cols-1);
int v_end = std::min(v+1, depthImage.rows-1);
float depth = isInMM?(float)depthImage.at<uint16_t>(v,u)*0.001f:depthImage.at<float>(v,u);
float depth = isInMM?(float)depthImage.at<unsigned short>(v,u)*0.001f:depthImage.at<float>(v,u);
if(depth!=0.0f && uIsFinite(depth))
{
if(smoothing)
@@ -241,7 +241,7 @@ float getDepth(
{
if(!(uu == u && vv == v))
{
float d = isInMM?(float)depthImage.at<uint16_t>(vv,uu)*0.001f:depthImage.at<float>(vv,uu);
float d = isInMM?(float)depthImage.at<unsigned short>(vv,uu)*0.001f:depthImage.at<float>(vv,uu);
// ignore if not valid or depth difference is too high
if(d != 0.0f && uIsFinite(d) && fabs(d - depth) < maxZError)
{

34
corelib/src/util3d_filtering.cpp
View File

@@ -52,10 +52,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
float voxelSize)
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(voxelSize > 0.0f);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud);
@@ -66,10 +64,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelize(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float voxelSize)
{
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(voxelSize > 0.0f);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::VoxelGrid<pcl::PointXYZRGB> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud);
@@ -81,10 +77,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelize(
pcl::PointCloud<pcl::PointXYZ>::Ptr sampling(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, int samples)
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(samples > 0);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::RandomSample<pcl::PointXYZ> filter;
filter.setSample(samples);
filter.setInputCloud(cloud);
@@ -94,10 +88,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr sampling(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr sampling(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, int samples)
{
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(samples > 0);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::RandomSample<pcl::PointXYZRGB> filter;
filter.setSample(samples);
filter.setInputCloud(cloud);
@@ -112,12 +104,10 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr passThrough(
float min,
float max)
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PassThrough<pcl::PointXYZ> filter;
filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max);
@@ -132,12 +122,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr passThrough(
float min,
float max)
{
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0);
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PassThrough<pcl::PointXYZRGB> filter;
filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max);
@@ -208,9 +196,7 @@ pcl::IndicesPtr radiusFiltering(
float radiusSearch,
int minNeighborsInRadius)
{
typedef pcl::search::KdTree<pcl::PointXYZ> KdTree;
typedef typename KdTree::Ptr KdTreePtr;
KdTreePtr tree (new KdTree(false));
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>(false));
if(indices->size())
{
@@ -255,9 +241,7 @@ pcl::IndicesPtr radiusFiltering(
float radiusSearch,
int minNeighborsInRadius)
{
typedef pcl::search::KdTree<pcl::PointXYZRGB> KdTree;
typedef typename KdTree::Ptr KdTreePtr;
KdTreePtr tree (new KdTree(false));
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>(false));
if(indices->size())
{
@@ -583,7 +567,7 @@ pcl::IndicesPtr extractNegativeIndices(
return output;
}
pcl::IndicesPtr extractNegativeIndices(
const typename pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices)
{
pcl::IndicesPtr output(new std::vector<int>);

12
corelib/src/util3d_transforms.cpp
View File

@@ -36,22 +36,18 @@ namespace util3d
{
pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
const typename pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & transform)
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
return output;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
const typename pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & transform)
{
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
PointCloudPtr output(new PointCloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
return output;
}