New ECC deprecation strategy

PointCloudLibrary · Nov 27, 2017 · c3f4710 · c3f4710
1 parent 3f91a88
commit c3f4710
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Showing 8 changed files with 157 additions and 133 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
@@ -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);

diff --git a/apps/include/pcl/apps/organized_segmentation_demo.h b/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()

diff --git a/apps/src/ni_linemod.cpp b/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

diff --git a/apps/src/organized_segmentation_demo.cpp b/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);

diff --git a/apps/src/pcd_select_object_plane.cpp b/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

diff --git a/apps/src/stereo_ground_segmentation.cpp b/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);

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
   {