final changes

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp

@@ -109,8 +109,8 @@
         plane_labels->insert (i);
      typename PointCloud<PointT>::CloudVectorType clusters;
 
-     typename EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator =
-        boost::make_shared <EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label> > ();
+     typename EuclideanClusterComparator<PointT, pcl::Label>::Ptr euclidean_cluster_comparator =
+        boost::make_shared <EuclideanClusterComparator<PointT, pcl::Label> > ();
      euclidean_cluster_comparator->setInputCloud (input_cloud);
      euclidean_cluster_comparator->setLabels (labels);
      euclidean_cluster_comparator->setExcludeLabels (plane_labels);

apps/include/pcl/apps/organized_segmentation_demo.h

@@ -139,7 +139,7 @@ class OrganizedSegmentationDemo : public QMainWindow
     pcl::RGBPlaneCoefficientComparator<PointT, pcl::Normal>::Ptr rgb_comparator_;
     pcl::RGBPlaneCoefficientComparator<PointT, pcl::Normal> rgb_comp_;
     pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal>::Ptr edge_aware_comparator_;
-    pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_;
+    pcl::EuclideanClusterComparator<PointT, pcl::Label>::Ptr euclidean_cluster_comparator_;
 
   public Q_SLOTS:
     void toggleCapturePressed()

apps/src/ni_linemod.cpp

@@ -249,7 +249,7 @@ class NILinemod
       exppd.segment (*points_above_plane);
 
       // Use an organized clustering segmentation to extract the individual clusters
-      EuclideanClusterComparator<PointT, Normal, Label>::Ptr euclidean_cluster_comparator (new EuclideanClusterComparator<PointT, Normal, Label>);
+      EuclideanClusterComparator<PointT, Label>::Ptr euclidean_cluster_comparator (new EuclideanClusterComparator<PointT, Label>);
       euclidean_cluster_comparator->setInputCloud (cloud);
       euclidean_cluster_comparator->setDistanceThreshold (0.03f, false);
       // Set the entire scene to false, and the inliers of the objects located on top of the plane to true

apps/src/organized_segmentation_demo.cpp

@@ -254,7 +254,7 @@ OrganizedSegmentationDemo::OrganizedSegmentationDemo (pcl::Grabber& grabber) : g
   euclidean_comparator_.reset (new pcl::EuclideanPlaneCoefficientComparator<PointT, pcl::Normal> ());
   rgb_comparator_.reset (new pcl::RGBPlaneCoefficientComparator<PointT, pcl::Normal> ());
   edge_aware_comparator_.reset (new pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal> ());
-  euclidean_cluster_comparator_ = pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr (new pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label> ());
+  euclidean_cluster_comparator_ = pcl::EuclideanClusterComparator<PointT, pcl::Label>::Ptr (new pcl::EuclideanClusterComparator<PointT, pcl::Label> ());
 
   // Set up Organized Multi Plane Segmentation
   mps.setMinInliers (10000);

apps/src/pcd_select_object_plane.cpp

@@ -194,7 +194,7 @@ class ObjectSelection
       if (cloud_->isOrganized ())
       {
         // Use an organized clustering segmentation to extract the individual clusters
-        typename EuclideanClusterComparator<PointT, Normal, Label>::Ptr euclidean_cluster_comparator (new EuclideanClusterComparator<PointT, Normal, Label>);
+        typename EuclideanClusterComparator<PointT, Label>::Ptr euclidean_cluster_comparator (new EuclideanClusterComparator<PointT, Label>);
         euclidean_cluster_comparator->setInputCloud (cloud);
         euclidean_cluster_comparator->setDistanceThreshold (0.03f, false);
         // Set the entire scene to false, and the inliers of the objects located on top of the plane to true

apps/src/stereo_ground_segmentation.cpp

@@ -398,7 +398,7 @@ class HRCSSegmentation
             if ((region_indices[i].indices.size () > mps.getMinInliers ()))
               plane_labels->insert (i);
 
-          pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label>::Ptr euclidean_cluster_comparator_ (new pcl::EuclideanClusterComparator<PointT, pcl::Normal, pcl::Label> ());
+          pcl::EuclideanClusterComparator<PointT, pcl::Label>::Ptr euclidean_cluster_comparator_ (new pcl::EuclideanClusterComparator<PointT, pcl::Label> ());
           euclidean_cluster_comparator_->setInputCloud (cloud);
           euclidean_cluster_comparator_->setLabels (labels_ptr);
           euclidean_cluster_comparator_->setExcludeLabels (plane_labels);

segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h

@@ -211,8 +211,8 @@ namespace pcl
 
       using experimental::EuclideanClusterComparator<PointT, PointLT>::setExcludeLabels;
 
-      /** \brief Empty constructor for EuclideanClusterComparator. */
-      PCL_DEPRECATED ("EuclideanClusterComparator will no longer be templated on a PointNormal type in future minor release")
+      /** \brief Default constructor for EuclideanClusterComparator. */
+      PCL_DEPRECATED ("Remove PointNT from template parameters.")
       EuclideanClusterComparator ()
         : normals_ ()
         , angular_threshold_ (0.0f)
@@ -222,27 +222,35 @@ namespace pcl
        * \param[in] normals the input normal cloud
        */
       inline void
-      PCL_DEPRECATED ("EuclideanClusterComparator no longer makes use of normals.")
+      PCL_DEPRECATED ("EuclideadClusterComparator never actually used normals and angular threshold, "
+                      "this function has no effect on the behavior of the comparator. Therefore it is "
+                      "deprecated and will be removed in future releases.")
       setInputNormals (const PointCloudNConstPtr& normals) { normals_ = normals; }
 
       /** \brief Get the input normals. */
       inline PointCloudNConstPtr
-      PCL_DEPRECATED ("EuclideanClusterComparator no longer makes use of normals.")
+      PCL_DEPRECATED ("EuclideadClusterComparator never actually used normals and angular threshold, "
+                      "this function has no effect on the behavior of the comparator. Therefore it is "
+                      "deprecated and will be removed in future releases.")
       getInputNormals () const { return (normals_); }
 
       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
         * \param[in] angular_threshold the tolerance in radians
         */
       inline void
-      PCL_DEPRECATED ("EuclideanClusterComparator no longer makes use of the angular threshold.")
+      PCL_DEPRECATED ("EuclideadClusterComparator never actually used normals and angular threshold, "
+                      "this function has no effect on the behavior of the comparator. Therefore it is "
+                      "deprecated and will be removed in future releases.")
       setAngularThreshold (float angular_threshold)
       {
         angular_threshold_ = std::cos (angular_threshold);
       }
 
       /** \brief Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
       inline float
-      PCL_DEPRECATED ("EuclideanClusterComparator no longer makes use of the angular threshold.")
+      PCL_DEPRECATED ("EuclideadClusterComparator never actually used normals and angular threshold, "
+                      "this function has no effect on the behavior of the comparator. Therefore it is "
+                      "deprecated and will be removed in future releases.")
       getAngularThreshold () const { return (std::acos (angular_threshold_) ); }
 
       /** \brief Set labels in the label cloud to exclude.