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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/src/pcl_ros/features/boundary.cpp
+5 -5
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@@ -43,7 +43,7 @@ pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,17 +57,17 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::BoundaryEstimation BoundaryEstimation;
pcl_ros/src/pcl_ros/features/fpfh.cpp
+5 -5
View File
@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::FPFHEstimation FPFHEstimation;
pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
+5 -5
View File
@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
pcl_ros/src/pcl_ros/features/moment_invariants.cpp
+4 -4
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@@ -43,7 +43,7 @@ pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &c
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -56,9 +56,9 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setSearchSurface (pcl_ptr(surface));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -66,7 +66,7 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation;
pcl_ros/src/pcl_ros/features/normal_3d.cpp
+4 -4
View File
@@ -43,7 +43,7 @@ pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -56,9 +56,9 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setSearchSurface (pcl_ptr(surface));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -66,7 +66,7 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::NormalEstimation NormalEstimation;
pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
+4 -4
View File
@@ -43,7 +43,7 @@ pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -56,9 +56,9 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setSearchSurface (pcl_ptr(surface));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -66,7 +66,7 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP;
pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp
+2 -2
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@@ -45,7 +45,7 @@ pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloud output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -71,7 +71,7 @@ pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
pcl_ros/src/pcl_ros/features/pfh.cpp
+5 -5
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@@ -43,7 +43,7 @@ pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,10 +57,10 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -68,7 +68,7 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::PFHEstimation PFHEstimation;
pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
+5 -5
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@@ -43,7 +43,7 @@ pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,10 +57,10 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -68,7 +68,7 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation;
pcl_ros/src/pcl_ros/features/shot.cpp
+5 -5
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@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::SHOTEstimation SHOTEstimation;
pcl_ros/src/pcl_ros/features/shot_omp.cpp
+5 -5
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@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP;
pcl_ros/src/pcl_ros/features/vfh.cpp
+5 -5
View File
@@ -43,7 +43,7 @@ pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
{
PointCloudOut output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
void
@@ -57,10 +57,10 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
impl_.setRadiusSearch (search_radius_);
// Set the inputs
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices);
impl_.setSearchSurface (surface);
impl_.setInputNormals (normals);
impl_.setSearchSurface (pcl_ptr(surface));
impl_.setInputNormals (pcl_ptr(normals));
// Estimate the feature
PointCloudOut output;
impl_.compute (output);
@@ -68,7 +68,7 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::VFHEstimation VFHEstimation;
pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
+2 -2
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@@ -203,7 +203,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
if (indices)
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices_ptr);
std::vector<pcl::PointIndices> clusters;
@@ -240,7 +240,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
header.stamp += ros::Duration (i * 0.001);
toPCL(header, output.header);
// Publish a Boost shared ptr const data
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s",
i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ());
}
pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+3 -3
View File
@@ -190,16 +190,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
pub_output_.publish (inliers);
return;
}
impl_.setInputPlanarHull (planar_hull.makeShared ());
impl_.setInputPlanarHull (pcl_ptr(planar_hull.makeShared ()));
}
else
impl_.setInputPlanarHull (hull);
impl_.setInputPlanarHull (pcl_ptr(hull));
IndicesPtr indices_ptr;
if (indices && !indices->header.frame_id.empty ())
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices_ptr);
// Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
+3 -3
View File
@@ -325,7 +325,7 @@ pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &clou
if (indices && !indices->header.frame_id.empty ())
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud_tf);
impl_.setInputCloud (pcl_ptr(cloud_tf));
impl_.setIndices (indices_ptr);
// Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
@@ -652,8 +652,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback (
return;
}
impl_.setInputCloud (cloud);
impl_.setInputNormals (cloud_normals);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setInputNormals (pcl_ptr(cloud_normals));
IndicesPtr indices_ptr;
if (indices && !indices->header.frame_id.empty ())
pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
+4 -4
View File
@@ -116,7 +116,7 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
PointCloud output;
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
return;
}
@@ -127,13 +127,13 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ());
impl_.setInputCloud (cloud);
impl_.setTargetCloud (cloud_target);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setTargetCloud (pcl_ptr(cloud_target));
PointCloud output;
impl_.segment (output);
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (),
output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ());
}
pcl_ros/src/pcl_ros/surface/convex_hull.cpp
+4 -4
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@@ -122,7 +122,7 @@ void
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
// Publish an empty message
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
return;
}
// If indices are given, check if they are valid
@@ -131,7 +131,7 @@ void
NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
// Publish an empty message
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
return;
}
@@ -151,7 +151,7 @@ void
if (indices)
indices_ptr.reset (new std::vector<int> (indices->indices));
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
impl_.setIndices (indices_ptr);
// Estimate the feature
@@ -195,7 +195,7 @@ void
}
// Publish a Boost shared ptr const data
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
}
typedef pcl_ros::ConvexHull2D ConvexHull2D;
pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
+5 -5
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@@ -142,7 +142,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
return;
}
// If indices are given, check if they are valid
@@ -150,7 +150,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
{
NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
return;
}
@@ -167,7 +167,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
///
// Reset the indices and surface pointers
impl_.setInputCloud (cloud);
impl_.setInputCloud (pcl_ptr(cloud));
IndicesPtr indices_ptr;
if (indices)
@@ -183,9 +183,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied
output.header = cloud->header;
pub_output_.publish (output.makeShared ());
pub_output_.publish (ros_ptr(output.makeShared ()));
normals->header = cloud->header;
pub_normals_.publish (normals);
pub_normals_.publish (ros_ptr(normals));
}
//////////////////////////////////////////////////////////////////////////////////////////////