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fix to compileable

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This commit is contained in:
Kei Okada 2013-05-15 12:57:28 +09:00 committed by Paul Bovbel
parent f2553aac6c
commit b2f9c6e898
13 changed files with 15 additions and 46 deletions
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22
pcl_ros/CMakeLists.txt
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@ -64,15 +64,15 @@ class_loader_hide_library_symbols(pcl_ros_io)
add_library (pcl_ros_features
src/pcl_ros/features/feature.cpp
# Compilation is much faster if we include all the following CPP files in feature.cpp
# src/pcl_ros/features/boundary.cpp
# src/pcl_ros/features/fpfh.cpp
# src/pcl_ros/features/fpfh_omp.cpp
# src/pcl_ros/features/moment_invariants.cpp
# src/pcl_ros/features/normal_3d.cpp
# src/pcl_ros/features/normal_3d_omp.cpp
# src/pcl_ros/features/pfh.cpp
# src/pcl_ros/features/principal_curvatures.cpp
# src/pcl_ros/features/vfh.cpp
src/pcl_ros/features/boundary.cpp
src/pcl_ros/features/fpfh.cpp
src/pcl_ros/features/fpfh_omp.cpp
src/pcl_ros/features/moment_invariants.cpp
src/pcl_ros/features/normal_3d.cpp
src/pcl_ros/features/normal_3d_omp.cpp
src/pcl_ros/features/pfh.cpp
src/pcl_ros/features/principal_curvatures.cpp
src/pcl_ros/features/vfh.cpp
)
#rosbuild_add_compile_flags (pcl_ros_features ${SSE_FLAGS})
target_link_libraries (pcl_ros_features ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
@ -99,7 +99,7 @@ class_loader_hide_library_symbols(pcl_ros_filters)
add_library (pcl_ros_segmentation
src/pcl_ros/segmentation/segmentation.cpp
src/pcl_ros/segmentation/segment_differences.cpp
# src/pcl_ros/segmentation/extract_clusters.cpp
src/pcl_ros/segmentation/extract_clusters.cpp
src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
src/pcl_ros/segmentation/sac_segmentation.cpp
)
@ -113,7 +113,7 @@ add_library (pcl_ros_surface
src/pcl_ros/surface/surface.cpp
# Compilation is much faster if we include all the following CPP files in surface.cpp
src/pcl_ros/surface/convex_hull.cpp
#src/pcl_ros/surface/moving_least_squares.cpp
src/pcl_ros/surface/moving_least_squares.cpp
)
#rosbuild_add_compile_flags (pcl_ros_surface ${SSE_FLAGS})
target_link_libraries (pcl_ros_surface ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})

1
pcl_ros/include/pcl_ros/features/principal_curvatures.h
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@ -38,6 +38,7 @@
#ifndef PCL_ROS_PRINCIPAL_CURVATURES_H_
#define PCL_ROS_PRINCIPAL_CURVATURES_H_
#define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET true
#include <pcl/features/principal_curvatures.h>
#include "pcl_ros/features/feature.h"

3
pcl_ros/src/pcl_ros/features/boundary.cpp
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@ -55,9 +55,6 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/fpfh.cpp
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@ -55,9 +55,6 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
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@ -55,9 +55,6 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/moment_invariants.cpp
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@ -54,9 +54,6 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/normal_3d.cpp
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@ -54,9 +54,6 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
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@ -54,9 +54,6 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/pfh.cpp
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@ -55,9 +55,6 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
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@ -55,9 +55,6 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

3
pcl_ros/src/pcl_ros/features/vfh.cpp
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@ -55,9 +55,6 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
// Set the parameters
impl_.setKSearch (k_);
impl_.setRadiusSearch (search_radius_);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, k_);
impl_.setSearchMethod (tree_);
// Set the inputs
impl_.setInputCloud (cloud);

6
pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
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@ -100,14 +100,12 @@ pcl_ros::EuclideanClusterExtraction::onInit ()
NODELET_DEBUG ("[%s::onInit] Nodelet successfully created with the following parameters:\n"
" - max_queue_size : %d\n"
" - use_indices : %s\n"
" - cluster_tolerance : %f\n"
" - spatial_locator : %d",
" - cluster_tolerance : %f\n",
getName ().c_str (),
max_queue_size_,
(use_indices_) ? "true" : "false", cluster_tolerance, spatial_locator);
(use_indices_) ? "true" : "false", cluster_tolerance);
// Set given parameters here
impl_.setSpatialLocator (spatial_locator);
impl_.setClusterTolerance (cluster_tolerance);
}

5
pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
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@ -149,7 +149,6 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
// Reset the indices and surface pointers
impl_.setInputCloud (cloud);
impl_.setOutputNormals (normals);
IndicesPtr indices_ptr;
if (indices)
@ -158,11 +157,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
impl_.setIndices (indices_ptr);
// Initialize the spatial locator
initTree (spatial_locator_type_, tree_, 0); //k_);
impl_.setSearchMethod (tree_);
// Do the reconstructon
impl_.reconstruct (output);
//impl_.process (output);
// Publish a Boost shared ptr const data
// Enforce that the TF frame and the timestamp are copied