Merge pull request #2096 from SergioRAgostinho/ecc-deprecated

Provide proper EuclideanClusterComparator method depreciation
PointCloudLibrary · Nov 27, 2017 · 47629c1 · 47629c1
2 parents 5d18757 + c3f4710
commit 47629c1
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Showing 8 changed files with 241 additions and 131 deletions.
diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp b/apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp
@@ -103,12 +103,14 @@
      std::vector<pcl::PointIndices> boundary_indices;
      mps.segmentAndRefine (regions, model_coefficients, inlier_indices, labels, label_indices, boundary_indices);
 
-     boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+     boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
      for (size_t i = 0; i < label_indices.size (); ++i)
-       (*plane_labels)[i] = (label_indices[i].indices.size () > (size_t) min_plane_size);
+      if (label_indices[i].indices.size () > (size_t) min_plane_size)
+        plane_labels->insert (i);
      typename PointCloud<PointT>::CloudVectorType clusters;
 
-     typename EuclideanClusterComparator<PointT, pcl::Label>::Ptr euclidean_cluster_comparator = boost::make_shared <EuclideanClusterComparator<PointT, 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);

diff --git a/apps/src/ni_linemod.cpp b/apps/src/ni_linemod.cpp
@@ -260,9 +260,8 @@ class NILinemod
         scene->points[points_above_plane->indices[i]].label = 1;
       euclidean_cluster_comparator->setLabels (scene);
 
-      boost::shared_ptr<std::map<uint32_t, bool> > exclude_labels = boost::make_shared<std::map<uint32_t, bool> > ();
-      (*exclude_labels)[0] = true;
-      (*exclude_labels)[1] = false;
+      boost::shared_ptr<std::set<uint32_t> > exclude_labels = boost::make_shared<std::set<uint32_t> > ();
+      exclude_labels->insert (0);
 
       OrganizedConnectedComponentSegmentation<PointT, Label> euclidean_segmentation (euclidean_cluster_comparator);
       euclidean_segmentation.setInputCloud (cloud);

diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp
@@ -309,9 +309,10 @@ OrganizedSegmentationDemo::cloud_cb (const CloudConstPtr& cloud)
 
   if (use_clustering_ && regions.size () > 0)
   {
-    boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+    boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
     for (size_t i = 0; i < label_indices.size (); ++i)
-      (*plane_labels)[i] = (label_indices[i].indices.size () > 10000);
+      if (label_indices[i].indices.size () > 10000)
+        plane_labels->insert (i);
 
     euclidean_cluster_comparator_->setInputCloud (cloud);
     euclidean_cluster_comparator_->setLabels (labels);

diff --git a/apps/src/pcd_select_object_plane.cpp b/apps/src/pcd_select_object_plane.cpp
@@ -205,9 +205,8 @@ class ObjectSelection
           scene->points[points_above_plane->indices[i]].label = 1;
         euclidean_cluster_comparator->setLabels (scene);
 
-        boost::shared_ptr<std::map<uint32_t, bool> > exclude_labels = boost::make_shared<std::map<uint32_t, bool> > ();
-        (*exclude_labels)[0] = true;
-        (*exclude_labels)[1] = false;
+        boost::shared_ptr<std::set<uint32_t> > exclude_labels = boost::make_shared<std::set<uint32_t> > ();
+        exclude_labels->insert (0);
         euclidean_cluster_comparator->setExcludeLabels (exclude_labels);
 
         OrganizedConnectedComponentSegmentation<PointT, Label> euclidean_segmentation (euclidean_cluster_comparator);

diff --git a/apps/src/stereo_ground_segmentation.cpp b/apps/src/stereo_ground_segmentation.cpp
@@ -393,9 +393,10 @@ class HRCSSegmentation
         pcl::PointCloud<PointT>::CloudVectorType clusters;
         if (ground_cloud->points.size () > 0)
         {
-          boost::shared_ptr<std::map<uint32_t, bool> > plane_labels = boost::make_shared<std::map<uint32_t, bool> > ();
+          boost::shared_ptr<std::set<uint32_t> > plane_labels = boost::make_shared<std::set<uint32_t> > ();
           for (size_t i = 0; i < region_indices.size (); ++i)
-            (*plane_labels)[i] = (region_indices[i].indices.size () > mps.getMinInliers ());
+            if ((region_indices[i].indices.size () > mps.getMinInliers ()))
+              plane_labels->insert (i);
 
           pcl::EuclideanClusterComparator<PointT, pcl::Label>::Ptr euclidean_cluster_comparator_ (new pcl::EuclideanClusterComparator<PointT, pcl::Label> ());
           euclidean_cluster_comparator_->setInputCloud (cloud);

diff --git a/common/include/pcl/pcl_macros.h b/common/include/pcl/pcl_macros.h
@@ -289,6 +289,25 @@ log2f (float x)
     #define PCLAPI(rettype) PCL_EXTERN_C PCL_EXPORTS rettype PCL_CDECL
 #endif
 
+// Macro for pragma operator
+#if (defined (__GNUC__) || defined(__clang__))
+  #define PCL_PRAGMA(x) _Pragma (#x)
+#elif _MSC_VER
+  #define PCL_PRAGMA(x) __pragma (#x)
+#else
+  #define PCL_PRAGMA
+#endif
+
+// Macro for emitting pragma warning
+#if (defined (__GNUC__) || defined(__clang__))
+  #define PCL_PRAGMA_WARNING(x) PCL_PRAGMA (GCC warning x)
+#elif _MSC_VER
+  #define PCL_PRAGMA_WARNING(x) PCL_PRAGMA (warning (x))
+#else
+  #define PCL_PRAGMA_WARNING
+#endif
+
+
 // Macro to deprecate old functions
 //
 // Usage:

diff --git a/common/include/pcl/point_traits.h b/common/include/pcl/point_traits.h
@@ -61,6 +61,13 @@
 
 namespace pcl
 {
+  namespace deprecated
+  {
+    /** \class DeprecatedType
+    * \brief A dummy type to aid in template parameter deprecation
+    */
+    struct T {};
+  }
 
   namespace fields
   {