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Fixed PCL 1.10 deprecated warnings

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This commit is contained in:
matlabbe
2020-05-27 17:55:38 -04:00
parent 0a127e629a
commit 1db46ea75b
1 changed files with 15 additions and 0 deletions
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src/nodelets/point_cloud_assembler.cpp
+15
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@@ -243,7 +243,11 @@ private:
pcl_conversions::toPCL(*cloudMsg, *newCloud); pcl_conversions::toPCL(*cloudMsg, *newCloud);
rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*newCloud); rtabmap::LaserScan scan = rtabmap::util3d::laserScanFromPointCloud(*newCloud);
scan = rtabmap::util3d::commonFiltering(scan, 1, rangeMin_, rangeMax_, voxelSize_); scan = rtabmap::util3d::commonFiltering(scan, 1, rangeMin_, rangeMax_, voxelSize_);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
std::uint64_t stamp = newCloud->header.stamp;
#else
pcl::uint64_t stamp = newCloud->header.stamp; pcl::uint64_t stamp = newCloud->header.stamp;
#endif
newCloud = rtabmap::util3d::laserScanToPointCloud2(scan, t); newCloud = rtabmap::util3d::laserScanToPointCloud2(scan, t);
newCloud->header.stamp = stamp; newCloud->header.stamp = stamp;
} }
@@ -256,10 +260,17 @@ private:
clouds_.push_back(newCloud); clouds_.push_back(newCloud);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
bool reachedMaxSize =
((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
||
((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<std::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#else
bool reachedMaxSize = bool reachedMaxSize =
((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0) ((int)clouds_.size() >= maxClouds_ && maxClouds_ > 0)
|| ||
((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<pcl::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0); ((*newCloud).header.stamp >= clouds_.front()->header.stamp + static_cast<pcl::uint64_t>(assemblingTime_*1000000.0) && assemblingTime_ > 0.0);
#endif
if( circularBuffer_ || reachedMaxSize ) if( circularBuffer_ || reachedMaxSize )
{ {
@@ -273,7 +284,11 @@ private:
else else
{ {
pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2); pcl::PCLPointCloud2Ptr assembledTmp(new pcl::PCLPointCloud2);
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
pcl::concatenate(*assembled, *(*iter), *assembledTmp);
#else
pcl::concatenatePointCloud(*assembled, *(*iter), *assembledTmp); pcl::concatenatePointCloud(*assembled, *(*iter), *assembledTmp);
#endif
assembled = assembledTmp; assembled = assembledTmp;
} }
} }