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Fixed build with PCL < 1.7.2

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matlabbe
2016-03-13 12:07:05 -04:00
parent 47da9014ae
commit e0860dd83c
1 changed files with 6 additions and 0 deletions
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6
guilib/src/CloudViewer.cpp
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@@ -733,11 +733,15 @@ bool CloudViewer::updateCoordinatePose(
const std::string & id, const std::string & id,
const Transform & pose) const Transform & pose)
{ {
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_coordinates.find(id) != _coordinates.end() && !pose.isNull()) if(_coordinates.find(id) != _coordinates.end() && !pose.isNull())
{ {
UDEBUG("Updating pose %s to %s", id.c_str(), pose.prettyPrint().c_str()); UDEBUG("Updating pose %s to %s", id.c_str(), pose.prettyPrint().c_str());
return _visualizer->updateCoordinateSystemPose(id, pose.toEigen3f()); return _visualizer->updateCoordinateSystemPose(id, pose.toEigen3f());
} }
#else
UERROR("CloudViewer::updateCoordinatePose() is not available on PCL < 1.7.2");
#endif
return false; return false;
} }
@@ -1259,11 +1263,13 @@ void CloudViewer::updateCameraTargetPosition(const Transform & pose)
cameras.front().view[2] = _aLockViewZ->isChecked()?1:Fp[10]; cameras.front().view[2] = _aLockViewZ->isChecked()?1:Fp[10];
} }
#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
if(_coordinates.find("reference") != _coordinates.end()) if(_coordinates.find("reference") != _coordinates.end())
{ {
this->updateCoordinatePose("reference", pose); this->updateCoordinatePose("reference", pose);
} }
else else
#endif
{ {
this->addOrUpdateCoordinate("reference", pose, 0.2); this->addOrUpdateCoordinate("reference", pose, 0.2);
} }