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Fixing implicit conversion warnings #378 (#379)

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ralwing 2022-11-03 13:03:31 +01:00 committed by GitHub
parent 3eecd4e37b
commit 389297dfad
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1 changed files with 13 additions and 10 deletions
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23
pcl_conversions/include/pcl_conversions/pcl_conversions.h
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@ -37,6 +37,7 @@
#ifndef PCL_CONVERSIONS_H__ #ifndef PCL_CONVERSIONS_H__
#define PCL_CONVERSIONS_H__ #define PCL_CONVERSIONS_H__
#include <cstddef>
#include <vector> #include <vector>
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
@ -81,13 +82,14 @@ namespace pcl_conversions {
inline inline
void fromPCL(const std::uint64_t &pcl_stamp, rclcpp::Time &stamp) void fromPCL(const std::uint64_t &pcl_stamp, rclcpp::Time &stamp)
{ {
stamp = rclcpp::Time(pcl_stamp * 1000ull); // Convert from us to ns stamp = rclcpp::Time(
static_cast<rcl_time_point_value_t>(pcl_stamp * 1000ull)); // Convert from us to ns
} }
inline inline
void toPCL(const rclcpp::Time &stamp, std::uint64_t &pcl_stamp) void toPCL(const rclcpp::Time &stamp, std::uint64_t &pcl_stamp)
{ {
pcl_stamp = stamp.nanoseconds() / 1000ull; // Convert from ns to us pcl_stamp = static_cast<std::uint64_t>(stamp.nanoseconds()) / 1000ull; // Convert from ns to us
} }
inline inline
@ -211,7 +213,7 @@ namespace pcl_conversions {
{ {
pfs.resize(pcl_pfs.size()); pfs.resize(pcl_pfs.size());
std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin(); std::vector<pcl::PCLPointField>::const_iterator it = pcl_pfs.begin();
int i = 0; size_t i = 0;
for(; it != pcl_pfs.end(); ++it, ++i) { for(; it != pcl_pfs.end(); ++it, ++i) {
fromPCL(*(it), pfs[i]); fromPCL(*(it), pfs[i]);
} }
@ -231,7 +233,7 @@ namespace pcl_conversions {
{ {
pcl_pfs.resize(pfs.size()); pcl_pfs.resize(pfs.size());
std::vector<sensor_msgs::msg::PointField>::const_iterator it = pfs.begin(); std::vector<sensor_msgs::msg::PointField>::const_iterator it = pfs.begin();
int i = 0; size_t i = 0;
for(; it != pfs.end(); ++it, ++i) { for(; it != pfs.end(); ++it, ++i) {
toPCL(*(it), pcl_pfs[i]); toPCL(*(it), pcl_pfs[i]);
} }
@ -676,15 +678,16 @@ namespace pcl {
{ {
// Get the field sizes for the second cloud // Get the field sizes for the second cloud
std::vector<sensor_msgs::msg::PointField> fields2; std::vector<sensor_msgs::msg::PointField> fields2;
std::vector<int> fields2_sizes; std::vector<size_t> fields2_sizes;
for (size_t j = 0; j < cloud2.fields.size (); ++j) for (size_t j = 0; j < cloud2.fields.size (); ++j)
{ {
if (cloud2.fields[j].name == "_") if (cloud2.fields[j].name == "_")
continue; continue;
fields2_sizes.push_back (cloud2.fields[j].count * fields2_sizes.push_back(
pcl::getFieldSize (cloud2.fields[j].datatype)); cloud2.fields[j].count *
fields2.push_back (cloud2.fields[j]); static_cast<size_t>(pcl::getFieldSize(cloud2.fields[j].datatype)));
fields2.push_back(cloud2.fields[j]);
} }
cloud_out.data.resize (nrpts + (cloud2.width * cloud2.height) * cloud_out.point_step); cloud_out.data.resize (nrpts + (cloud2.width * cloud2.height) * cloud_out.point_step);
@ -692,7 +695,7 @@ namespace pcl {
// Copy the second cloud // Copy the second cloud
for (size_t cp = 0; cp < cloud2.width * cloud2.height; ++cp) for (size_t cp = 0; cp < cloud2.width * cloud2.height; ++cp)
{ {
int i = 0; size_t i = 0;
for (size_t j = 0; j < fields2.size (); ++j) for (size_t j = 0; j < fields2.size (); ++j)
{ {
if (cloud1.fields[i].name == "_") if (cloud1.fields[i].name == "_")
@ -737,7 +740,7 @@ namespace pcl {
} // namespace pcl } // namespace pcl
/* TODO when ROS2 type masquareding is implemented */ /* TODO when ROS2 type masquerading is implemented */
/** /**
namespace ros namespace ros
{ {