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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 u_end = std::min(u+1, depthImage.cols-1);
int v_end = std::min(v+1, depthImage.rows-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(depth!=0.0f && uIsFinite(depth))
{ {
if(smoothing) if(smoothing)
@@ -241,7 +241,7 @@ float getDepth(
{ {
if(!(uu == u && vv == v)) 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 // ignore if not valid or depth difference is too high
if(d != 0.0f && uIsFinite(d) && fabs(d - depth) < maxZError) if(d != 0.0f && uIsFinite(d) && fabs(d - depth) < maxZError)
{ {

34
corelib/src/util3d_filtering.cpp
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@@ -52,10 +52,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr voxelize(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
float voxelSize) float voxelSize)
{ {
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(voxelSize > 0.0f); UASSERT(voxelSize > 0.0f);
PointCloudPtr output(new PointCloud); pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::VoxelGrid<pcl::PointXYZ> filter; pcl::VoxelGrid<pcl::PointXYZ> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize); filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud); filter.setInputCloud(cloud);
@@ -66,10 +64,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelize(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float voxelSize) float voxelSize)
{ {
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(voxelSize > 0.0f); UASSERT(voxelSize > 0.0f);
PointCloudPtr output(new PointCloud); pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::VoxelGrid<pcl::PointXYZRGB> filter; pcl::VoxelGrid<pcl::PointXYZRGB> filter;
filter.setLeafSize(voxelSize, voxelSize, voxelSize); filter.setLeafSize(voxelSize, voxelSize, voxelSize);
filter.setInputCloud(cloud); filter.setInputCloud(cloud);
@@ -81,10 +77,8 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr voxelize(
pcl::PointCloud<pcl::PointXYZ>::Ptr sampling( pcl::PointCloud<pcl::PointXYZ>::Ptr sampling(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, int samples) const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, int samples)
{ {
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(samples > 0); UASSERT(samples > 0);
PointCloudPtr output(new PointCloud); pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
pcl::RandomSample<pcl::PointXYZ> filter; pcl::RandomSample<pcl::PointXYZ> filter;
filter.setSample(samples); filter.setSample(samples);
filter.setInputCloud(cloud); filter.setInputCloud(cloud);
@@ -94,10 +88,8 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr sampling(
pcl::PointCloud<pcl::PointXYZRGB>::Ptr sampling( pcl::PointCloud<pcl::PointXYZRGB>::Ptr sampling(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, int samples) const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, int samples)
{ {
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(samples > 0); UASSERT(samples > 0);
PointCloudPtr output(new PointCloud); pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::RandomSample<pcl::PointXYZRGB> filter; pcl::RandomSample<pcl::PointXYZRGB> filter;
filter.setSample(samples); filter.setSample(samples);
filter.setInputCloud(cloud); filter.setInputCloud(cloud);
@@ -112,12 +104,10 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr passThrough(
float min, float min,
float max) float max)
{ {
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(max > min); UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0); 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; pcl::PassThrough<pcl::PointXYZ> filter;
filter.setFilterFieldName(axis); filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max); filter.setFilterLimits(min, max);
@@ -132,12 +122,10 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr passThrough(
float min, float min,
float max) float max)
{ {
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
UASSERT(max > min); UASSERT(max > min);
UASSERT(axis.compare("x") == 0 || axis.compare("y") == 0 || axis.compare("z") == 0); 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; pcl::PassThrough<pcl::PointXYZRGB> filter;
filter.setFilterFieldName(axis); filter.setFilterFieldName(axis);
filter.setFilterLimits(min, max); filter.setFilterLimits(min, max);
@@ -208,9 +196,7 @@ pcl::IndicesPtr radiusFiltering(
float radiusSearch, float radiusSearch,
int minNeighborsInRadius) int minNeighborsInRadius)
{ {
typedef pcl::search::KdTree<pcl::PointXYZ> KdTree; pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>(false));
typedef typename KdTree::Ptr KdTreePtr;
KdTreePtr tree (new KdTree(false));
if(indices->size()) if(indices->size())
{ {
@@ -255,9 +241,7 @@ pcl::IndicesPtr radiusFiltering(
float radiusSearch, float radiusSearch,
int minNeighborsInRadius) int minNeighborsInRadius)
{ {
typedef pcl::search::KdTree<pcl::PointXYZRGB> KdTree; pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>(false));
typedef typename KdTree::Ptr KdTreePtr;
KdTreePtr tree (new KdTree(false));
if(indices->size()) if(indices->size())
{ {
@@ -583,7 +567,7 @@ pcl::IndicesPtr extractNegativeIndices(
return output; return output;
} }
pcl::IndicesPtr extractNegativeIndices( pcl::IndicesPtr extractNegativeIndices(
const typename pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices) const pcl::IndicesPtr & indices)
{ {
pcl::IndicesPtr output(new std::vector<int>); 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( pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
const typename pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const Transform & transform) const Transform & transform)
{ {
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
typedef PointCloud::Ptr PointCloudPtr;
PointCloudPtr output(new PointCloud);
pcl::transformPointCloud(*cloud, *output, transform.toEigen4f()); pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
return output; return output;
} }
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud( pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
const typename pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const Transform & transform) const Transform & transform)
{ {
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloud; pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
typedef PointCloud::Ptr PointCloudPtr;
PointCloudPtr output(new PointCloud);
pcl::transformPointCloud(*cloud, *output, transform.toEigen4f()); pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
return output; return output;
} }