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Changes in preparation for PCL 1.11 (#273) (#279)

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* Deriving typedef from pcl type

* Explicit boost shared_ptr for function parameters

* Use boost::shared_ptr instead of PCL::Ptr

* Implementing boost-std compatibility

* Using the compatibility layer
This commit is contained in:
Kunal Tyagi
2020-05-12 10:50:15 +09:00
committed by GitHub
parent 36eb607be7
commit 2b770b15ed
28 changed files with 225 additions and 103 deletions
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pcl_ros/include/pcl_ros/features/feature.h
+7 -7
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@@ -70,11 +70,11 @@ namespace pcl_ros
typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
typedef PointCloudIn::Ptr PointCloudInPtr;
typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
typedef pcl::IndicesPtr IndicesPtr;
typedef pcl::IndicesConstPtr IndicesConstPtr;
/** \brief Empty constructor. */
Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
@@ -153,7 +153,7 @@ namespace pcl_ros
indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
PointCloudIn cloud;
cloud.header.stamp = input->header.stamp;
nf_pc_.add (cloud.makeShared ());
nf_pc_.add (ros_ptr(cloud.makeShared ()));
nf_pi_.add (boost::make_shared<PointIndices> (indices));
}
@@ -191,8 +191,8 @@ namespace pcl_ros
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef pcl::PointCloud<pcl::Normal> PointCloudN;
typedef PointCloudN::Ptr PointCloudNPtr;
typedef PointCloudN::ConstPtr PointCloudNConstPtr;
typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
FeatureFromNormals () : normals_() {};
pcl_ros/include/pcl_ros/filters/filter.h
+2 -2
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@@ -59,8 +59,8 @@ namespace pcl_ros
public:
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
typedef pcl::IndicesPtr IndicesPtr;
typedef pcl::IndicesConstPtr IndicesConstPtr;
Filter () {}
pcl_ros/include/pcl_ros/pcl_nodelet.h
+5 -4
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@@ -48,6 +48,7 @@
// PCL includes
#include <pcl_msgs/PointIndices.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include "pcl_ros/point_cloud.h"
@@ -75,8 +76,8 @@ namespace pcl_ros
typedef sensor_msgs::PointCloud2 PointCloud2;
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
typedef pcl_msgs::PointIndices PointIndices;
typedef PointIndices::Ptr PointIndicesPtr;
@@ -86,8 +87,8 @@ namespace pcl_ros
typedef ModelCoefficients::Ptr ModelCoefficientsPtr;
typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr;
typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
typedef pcl::IndicesPtr IndicesPtr;
typedef pcl::IndicesConstPtr IndicesConstPtr;
/** \brief Empty constructor. */
PCLNodelet () : use_indices_ (false), latched_indices_ (false),
pcl_ros/include/pcl_ros/point_cloud.h
+121
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@@ -294,4 +294,125 @@ namespace ros
} // namespace ros
// test if testing machinery can be implemented
#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
#else
#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
#endif
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
#include <type_traits> // for std::is_same
#include <memory> // for std::shared_ptr
#include <pcl/pcl_config.h>
#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#include <pcl/memory.h>
#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
#include <pcl/make_shared.h>
#endif
#endif
namespace pcl
{
namespace detail
{
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
template <class T>
constexpr static bool pcl_uses_boost = std::is_same<boost::shared_ptr<T>,
pcl::shared_ptr<T>>::value;
#else
template <class T>
constexpr static bool pcl_uses_boost = true;
#endif
template<class SharedPointer> struct Holder
{
SharedPointer p;
Holder(const SharedPointer &p) : p(p) {}
Holder(const Holder &other) : p(other.p) {}
Holder(Holder &&other) : p(std::move(other.p)) {}
void operator () (...) { p.reset(); }
};
template<class T>
inline std::shared_ptr<T> to_std_ptr(const boost::shared_ptr<T> &p)
{
typedef Holder<std::shared_ptr<T>> H;
if(H *h = boost::get_deleter<H>(p))
{
return h->p;
}
else
{
return std::shared_ptr<T>(p.get(), Holder<boost::shared_ptr<T>>(p));
}
}
template<class T>
inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> &p)
{
typedef Holder<boost::shared_ptr<T>> H;
if(H * h = std::get_deleter<H>(p))
{
return h->p;
}
else
{
return boost::shared_ptr<T>(p.get(), Holder<std::shared_ptr<T>>(p));
}
}
#endif
} // namespace pcl::detail
// add functions to convert to smart pointer used by ROS
template <class T>
inline boost::shared_ptr<T> ros_ptr(const boost::shared_ptr<T> &p)
{
return p;
}
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
template <class T>
inline boost::shared_ptr<T> ros_ptr(const std::shared_ptr<T> &p)
{
return detail::to_boost_ptr(p);
}
// add functions to convert to smart pointer used by PCL, based on PCL's own pointer
template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
inline std::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
{
return p;
}
template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
inline std::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
{
return detail::to_std_ptr(p);
}
template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
inline boost::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
{
return detail::to_boost_ptr(p);
}
template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
{
return p;
}
#else
template <class T>
inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
{
return p;
}
#endif
} // namespace pcl
#endif
pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
+2 -2
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@@ -64,8 +64,8 @@ namespace pcl_ros
class ExtractPolygonalPrismData : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
protected:
/** \brief The output PointIndices publisher. */
pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h
+6 -6
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@@ -61,8 +61,8 @@ namespace pcl_ros
class SACSegmentation : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
public:
/** \brief Constructor. */
@@ -181,12 +181,12 @@ namespace pcl_ros
class SACSegmentationFromNormals: public SACSegmentation
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
typedef pcl::PointCloud<pcl::Normal> PointCloudN;
typedef PointCloudN::Ptr PointCloudNPtr;
typedef PointCloudN::ConstPtr PointCloudNConstPtr;
typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
public:
/** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
pcl_ros/include/pcl_ros/segmentation/segment_differences.h
+2 -2
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@@ -60,8 +60,8 @@ namespace pcl_ros
class SegmentDifferences : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
public:
/** \brief Empty constructor. */
pcl_ros/include/pcl_ros/surface/convex_hull.h
+2 -2
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@@ -56,8 +56,8 @@ namespace pcl_ros
class ConvexHull2D : public PCLNodelet
{
typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef PointCloud::Ptr PointCloudPtr;
typedef PointCloud::ConstPtr PointCloudConstPtr;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
private:
/** \brief Nodelet initialization routine. */
pcl_ros/include/pcl_ros/surface/moving_least_squares.h
+2 -2
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@@ -62,8 +62,8 @@ namespace pcl_ros
typedef pcl::PointNormal NormalOut;
typedef pcl::PointCloud<PointIn> PointCloudIn;
typedef PointCloudIn::Ptr PointCloudInPtr;
typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
typedef pcl::PointCloud<NormalOut> NormalCloudOut;
typedef pcl::KdTree<PointIn> KdTree;