Removing ROS

.travis.yml

@@ -3,15 +3,8 @@ compiler:
   - gcc
 before_install:
   - sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl -y
-  - sudo add-apt-repository ppa:nmi/vim-snapshots -y
   - sudo apt-get update -d
-  - sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev
+  - sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem-dev libboost-iostreams-dev libboost-thread-dev
 script: 
   - mkdir build && cd build
-  - cmake -DPCL_ONLY_CORE_POINT_TYPES=ON .. && make -j2 && make test
-notifications:
-  recipients:
-    - julius@kammerl.com
-  email:
-    on_success: change
-    on_failure: always
+  - cmake -DCMAKE_C_FLAGS="-Wall -Wextra -Wabi -Wconversion -O2" -DCMAKE_CXX_FLAGS="-Wall -Wextra -Wabi -Wconversion -O2" -DPCL_ONLY_CORE_POINT_TYPES=ON .. && make -j2 && make test

CMakeLists.txt

@@ -276,8 +276,6 @@ find_package(Qhull)
 # Cuda
 include(${PCL_SOURCE_DIR}/cmake/pcl_find_cuda.cmake)
 
-# Find ROS
-include(${PCL_SOURCE_DIR}/cmake/pcl_find_ros.cmake)
 # Find QT4
 find_package(Qt4)
 if (QT4_FOUND)

PCLConfig.cmake.in

@@ -267,7 +267,7 @@ macro(find_VTK)
   endif(PCL_ALL_IN_ONE_INSTALLER)
   find_package(VTK ${QUIET_})
   if (VTK_FOUND AND NOT ANDROID)
-    set(VTK_LIBRARIES vtkCommon vtkRendering vtkHybrid)
+    set(VTK_LIBRARIES vtkCommon vtkRendering vtkHybrid vtkCharts)
   endif(VTK_FOUND AND NOT ANDROID)
 endmacro(find_VTK)
 
@@ -671,6 +671,8 @@ endif(NOT "${PCL_DEFINITIONS}" STREQUAL "")
 
 pcl_remove_duplicate_libraries(PCL_LIBRARIES PCL_DEDUP_LIBRARIES)
 set(PCL_LIBRARIES ${PCL_DEDUP_LIBRARIES})
+# Add 3rd party libraries, as user code might include our .HPP implementations
+list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
 
 find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
 mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/cloud_item.hpp

@@ -67,7 +67,7 @@ pcl::cloud_composer::CloudItem::printNumPoints () const
 template <typename PointT> pcl::cloud_composer::CloudItem* 
 pcl::cloud_composer::CloudItem::createCloudItemFromTemplate (const QString name, typename PointCloud<PointT>::Ptr cloud_ptr)
 {
-  sensor_msgs::PointCloud2::Ptr cloud_blob = boost::make_shared <sensor_msgs::PointCloud2> ();
+  pcl::PCLPointCloud2::Ptr cloud_blob = boost::make_shared <pcl::PCLPointCloud2> ();
   toROSMsg (*cloud_ptr, *cloud_blob);
   CloudItem* cloud_item = new CloudItem ( name, cloud_blob,  Eigen::Vector4f (), Eigen::Quaternionf (), false);
   cloud_item->setData (QVariant::fromValue(cloud_ptr), ItemDataRole::CLOUD_TEMPLATED);

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/merge_selection.hpp

@@ -90,7 +90,7 @@ pcl::cloud_composer::MergeSelection::performTemplatedAction (QList <const CloudC
 
       //Eigen::Vector4f source_origin = input_cloud_item->data (ItemDataRole::ORIGIN).value<Eigen::Vector4f> ();
       //Eigen::Quaternionf source_orientation =  input_cloud_item->data (ItemDataRole::ORIENTATION).value<Eigen::Quaternionf> ();
-      //sensor_msgs::PointCloud2::Ptr cloud_blob = boost::make_shared <sensor_msgs::PointCloud2> ();;
+      //pcl::PCLPointCloud2::Ptr cloud_blob = boost::make_shared <pcl::PCLPointCloud2> ();;
       //toROSMsg (*original_minus_indices, *cloud_blob);
       //CloudItem* new_cloud_item = new CloudItem (input_cloud_item->text ()
                                                   //, cloud_blob

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h

@@ -43,8 +43,8 @@
 #include <pcl/search/kdtree.h>
 
 //Typedefs to make things sane
-typedef pcl::visualization::PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler;
-typedef pcl::visualization::PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler;
+typedef pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2> GeometryHandler;
+typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2> ColorHandler;
 
 namespace pcl
 {
@@ -71,7 +71,7 @@ namespace pcl
         EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
         CloudItem (const QString name,
-                   const sensor_msgs::PointCloud2::Ptr cloud_ptr, 
+                   const pcl::PCLPointCloud2::Ptr cloud_ptr, 
                    const Eigen::Vector4f& origin = Eigen::Vector4f (),
                    const Eigen::Quaternionf& orientation = Eigen::Quaternionf (),
                    bool make_templated_cloud = true);
@@ -125,7 +125,7 @@ namespace pcl
       private:
 
         //These are just stored for convenience 
-        sensor_msgs::PointCloud2::Ptr cloud_blob_ptr_;
+        pcl::PCLPointCloud2::Ptr cloud_blob_ptr_;
         ColorHandler::ConstPtr color_handler_;
         GeometryHandler::ConstPtr geometry_handler_;
 
@@ -176,7 +176,7 @@ namespace pcl
 }
 
 //Add PointCloud types to QT MetaType System
-Q_DECLARE_METATYPE (sensor_msgs::PointCloud2::ConstPtr);
+Q_DECLARE_METATYPE (pcl::PCLPointCloud2::ConstPtr);
 Q_DECLARE_METATYPE (GeometryHandler::ConstPtr);
 Q_DECLARE_METATYPE (ColorHandler::ConstPtr);
 Q_DECLARE_METATYPE (Eigen::Vector4f);

apps/cloud_composer/src/cloud_composer.cpp

@@ -21,7 +21,7 @@ pcl::cloud_composer::ComposerMainWindow::ComposerMainWindow (QWidget *parent)
   this->setCorner (Qt::BottomRightCorner, Qt::RightDockWidgetArea);
 
    //Register types in Qt
-  qRegisterMetaType<sensor_msgs::PointCloud2::Ptr> ("PointCloud2Ptr");
+  qRegisterMetaType<pcl::PCLPointCloud2::Ptr> ("PCLPointCloud2Ptr");
   qRegisterMetaType<GeometryHandler::ConstPtr> ("GeometryHandlerConstPtr");
   qRegisterMetaType<ColorHandler::ConstPtr> ("ColorHandlerConstPtr");
   qRegisterMetaType<Eigen::Vector4f> ("EigenVector4f");

apps/cloud_composer/src/items/cloud_item.cpp

@@ -8,7 +8,7 @@
 #include <pcl/apps/cloud_composer/impl/cloud_item.hpp>
 
 pcl::cloud_composer::CloudItem::CloudItem (QString name,
-                                           sensor_msgs::PointCloud2::Ptr cloud_ptr, 
+                                           pcl::PCLPointCloud2::Ptr cloud_ptr, 
                                            const Eigen::Vector4f& origin, 
                                            const Eigen::Quaternionf& orientation,
                                            bool make_templated_cloud)
@@ -25,15 +25,15 @@ pcl::cloud_composer::CloudItem::CloudItem (QString name,
 
 //  qDebug () << "Cloud size after passthrough : "<<cloud_filtered->width<<"x"<<cloud_filtered->height;
   cloud_blob_ptr_ = cloud_ptr;
-  sensor_msgs::PointCloud2::ConstPtr const_cloud_ptr = cloud_ptr;  
+  pcl::PCLPointCloud2::ConstPtr const_cloud_ptr = cloud_ptr;  
   this->setData (QVariant::fromValue (const_cloud_ptr), ItemDataRole::CLOUD_BLOB);
   this->setData (QVariant::fromValue (origin_), ItemDataRole::ORIGIN);
   this->setData (QVariant::fromValue (orientation_), ItemDataRole::ORIENTATION);
 
   //Create a color and geometry handler for this cloud
-  color_handler_.reset (new pcl::visualization::PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> (cloud_ptr));
+  color_handler_.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud_ptr));
   this->setData (QVariant::fromValue (color_handler_), ItemDataRole::COLOR_HANDLER);
-  geometry_handler_.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> (cloud_ptr));
+  geometry_handler_.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> (cloud_ptr));
   this->setData (QVariant::fromValue (geometry_handler_), ItemDataRole::GEOMETRY_HANDLER);
 
   properties_->addCategory ("Core Properties");
@@ -56,7 +56,7 @@ pcl::cloud_composer::CloudItem::CloudItem (QString name,
 pcl::cloud_composer::CloudItem*
 pcl::cloud_composer::CloudItem::clone () const
 {
-  sensor_msgs::PointCloud2::Ptr cloud_copy (new sensor_msgs::PointCloud2 (*cloud_blob_ptr_));
+  pcl::PCLPointCloud2::Ptr cloud_copy (new pcl::PCLPointCloud2 (*cloud_blob_ptr_));
   //Vector4f and Quaternionf do deep copies using constructor
   CloudItem* new_item = new CloudItem (this->text (), cloud_copy, origin_,orientation_);
 
@@ -114,8 +114,8 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
   if (! template_cloud_set_ )
   {
     int num_fields = cloud_blob_ptr_->fields.size ();
-    std::vector<sensor_msgs::PointField>::iterator end = cloud_blob_ptr_->fields.end ();
-    std::vector<sensor_msgs::PointField>::iterator itr = cloud_blob_ptr_->fields.begin ();
+    std::vector<pcl::PCLPointField>::iterator end = cloud_blob_ptr_->fields.end ();
+    std::vector<pcl::PCLPointField>::iterator itr = cloud_blob_ptr_->fields.begin ();
     QStringList field_names;
     for ( itr = cloud_blob_ptr_->fields.begin ()  ; itr != end; ++itr)
     {
@@ -194,8 +194,8 @@ pcl::cloud_composer::CloudItem::checkIfFinite ()
   if (! cloud_blob_ptr_)
     return false;
 
-  sensor_msgs::PointCloud2::Ptr cloud_filtered = boost::make_shared<sensor_msgs::PointCloud2> ();
-  pcl::PassThrough<sensor_msgs::PointCloud2> pass_filter;
+  pcl::PCLPointCloud2::Ptr cloud_filtered = boost::make_shared<pcl::PCLPointCloud2> ();
+  pcl::PassThrough<pcl::PCLPointCloud2> pass_filter;
   pass_filter.setInputCloud (cloud_blob_ptr_);
   pass_filter.setKeepOrganized (false);
   pass_filter.filter (*cloud_filtered);

apps/cloud_composer/src/items/normals_item.cpp

@@ -42,7 +42,7 @@ pcl::cloud_composer::NormalsItem::paintView (boost::shared_ptr<pcl::visualizatio
   if (parent ()->type () == CLOUD_ITEM)
   {
     QVariant cloud_ptr = parent ()->data (ItemDataRole::CLOUD_BLOB);
-    sensor_msgs::PointCloud2::ConstPtr cloud_blob = cloud_ptr.value<sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr cloud_blob = cloud_ptr.value<pcl::PCLPointCloud2::ConstPtr> ();
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
     pcl::fromROSMsg (*cloud_blob, *cloud); 
     double scale = properties_->getProperty ("Scale").toDouble ();

apps/cloud_composer/src/merge_selection.cpp

@@ -53,22 +53,22 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
     }
   }
 
-  pcl::ExtractIndices<sensor_msgs::PointCloud2> filter;
-  sensor_msgs::PointCloud2::Ptr merged_cloud (new sensor_msgs::PointCloud2);
+  pcl::ExtractIndices<pcl::PCLPointCloud2> filter;
+  pcl::PCLPointCloud2::Ptr merged_cloud (new pcl::PCLPointCloud2);
   foreach (const CloudItem* input_cloud_item, selected_item_index_map_.keys ())
   {
     //If this cloud hasn't been completely selected 
     if (!input_data.contains (input_cloud_item))
     {
-      sensor_msgs::PointCloud2::ConstPtr input_cloud = input_cloud_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+      pcl::PCLPointCloud2::ConstPtr input_cloud = input_cloud_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
       qDebug () << "Extracting "<<selected_item_index_map_.value(input_cloud_item)->indices.size() << " points out of "<<input_cloud->width;
       filter.setInputCloud (input_cloud);
       filter.setIndices (selected_item_index_map_.value (input_cloud_item));
-      sensor_msgs::PointCloud2::Ptr original_minus_indices = boost::make_shared <sensor_msgs::PointCloud2> ();
+      pcl::PCLPointCloud2::Ptr original_minus_indices = boost::make_shared <pcl::PCLPointCloud2> ();
       filter.setNegative (true);
       filter.filter (*original_minus_indices);
       filter.setNegative (false);
-      sensor_msgs::PointCloud2::Ptr selected_points (new sensor_msgs::PointCloud2);
+      pcl::PCLPointCloud2::Ptr selected_points (new pcl::PCLPointCloud2);
       filter.filter (*selected_points);
 
       qDebug () << "Original minus indices is "<<original_minus_indices->width;
@@ -79,7 +79,7 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
                                              , source_origin
                                              , source_orientation);
       output.append (new_cloud_item);
-      sensor_msgs::PointCloud2::Ptr temp_cloud = boost::make_shared <sensor_msgs::PointCloud2> ();
+      pcl::PCLPointCloud2::Ptr temp_cloud = boost::make_shared <pcl::PCLPointCloud2> ();
       concatenatePointCloud (*merged_cloud, *selected_points, *temp_cloud);
       merged_cloud = temp_cloud;
     }
@@ -89,9 +89,9 @@ pcl::cloud_composer::MergeSelection::performAction (ConstItemList input_data, Po
   //Just concatenate for all fully selected clouds
   foreach (const CloudComposerItem* input_item, input_data)
   {
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
 
-    sensor_msgs::PointCloud2::Ptr temp_cloud = boost::make_shared <sensor_msgs::PointCloud2> ();
+    pcl::PCLPointCloud2::Ptr temp_cloud = boost::make_shared <pcl::PCLPointCloud2> ();
     concatenatePointCloud (*merged_cloud, *input_cloud, *temp_cloud);
     merged_cloud = temp_cloud;
   }

apps/cloud_composer/src/project_model.cpp

@@ -170,7 +170,7 @@ pcl::cloud_composer::ProjectModel::insertNewCloudFromFile ()
     last_directory_ = file_info.absoluteDir ();
   }
 
-  sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2);
+  pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2);
   Eigen::Vector4f origin;
   Eigen::Quaternionf orientation;
   int version;
@@ -377,7 +377,7 @@ pcl::cloud_composer::ProjectModel::saveSelectedCloudToFile ()
     last_directory_ = file_info.absoluteDir ();
   }
 
-  sensor_msgs::PointCloud2::ConstPtr cloud = cloud_to_save->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+  pcl::PCLPointCloud2::ConstPtr cloud = cloud_to_save->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
   Eigen::Vector4f origin = cloud_to_save->data (ItemDataRole::ORIGIN).value <Eigen::Vector4f> ();
   Eigen::Quaternionf orientation = cloud_to_save->data (ItemDataRole::ORIENTATION).value <Eigen::Quaternionf> ();
   int result = pcl::io::savePCDFile (filename.toStdString (), *cloud, origin, orientation );

apps/cloud_composer/tools/euclidean_clustering.cpp

@@ -45,7 +45,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
       int min_cluster_size = parameter_model_->getProperty ("Min Cluster Size").toInt();
       int max_cluster_size = parameter_model_->getProperty ("Max Cluster Size").toInt();
 
-      sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+      pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
       //Get the cloud in template form
       pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
       pcl::fromROSMsg (*input_cloud, *cloud); 
@@ -72,7 +72,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
       //Put found clusters into new cloud_items!
       qDebug () << "Found "<<cluster_indices.size ()<<" clusters!";
       int cluster_count = 0;
-      pcl::ExtractIndices<sensor_msgs::PointCloud2> filter;
+      pcl::ExtractIndices<pcl::PCLPointCloud2> filter;
       for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
       {
         filter.setInputCloud (input_cloud);
@@ -82,7 +82,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
         extracted_indices->insert (extracted_indices->end (), it->indices.begin (), it->indices.end ());
         //This means remove the other points
         filter.setKeepOrganized (false);
-        sensor_msgs::PointCloud2::Ptr cloud_filtered (new sensor_msgs::PointCloud2);
+        pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2);
         filter.filter (*cloud_filtered);
 
         qDebug() << "Cluster has " << cloud_filtered->width << " data points.";
@@ -94,7 +94,7 @@ pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input
         ++cluster_count;
       } 
       //We copy input cloud over for special case that no clusters found, since ExtractIndices doesn't work for 0 length vectors
-      sensor_msgs::PointCloud2::Ptr remainder_cloud (new sensor_msgs::PointCloud2(*input_cloud));
+      pcl::PCLPointCloud2::Ptr remainder_cloud (new pcl::PCLPointCloud2(*input_cloud));
       if (cluster_indices.size () > 0)
       {
         //make a cloud containing all the remaining points

apps/cloud_composer/tools/fpfh_estimation.cpp

@@ -55,7 +55,7 @@ pcl::cloud_composer::FPFHEstimationTool::performAction (ConstItemList input_data
 
     double radius = parameter_model_->getProperty("Radius").toDouble();
 
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
     //Get the cloud in template form
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
     pcl::fromROSMsg (*input_cloud, *cloud); 

apps/cloud_composer/tools/normal_estimation.cpp

@@ -37,12 +37,12 @@ pcl::cloud_composer::NormalEstimationTool::performAction (ConstItemList input_da
   }
   input_item = input_data.value (0);
 
-  sensor_msgs::PointCloud2::ConstPtr input_cloud;
+  pcl::PCLPointCloud2::ConstPtr input_cloud;
   if (input_item->type () == CloudComposerItem::CLOUD_ITEM)
   {
     double radius = parameter_model_->getProperty("Radius").toDouble();
     qDebug () << "Received Radius = " <<radius;
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
     qDebug () << "Got cloud size = "<<input_cloud->width;
     //////////////// THE WORK - COMPUTING NORMALS ///////////////////
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);

apps/cloud_composer/tools/sanitize_cloud.cpp

@@ -34,18 +34,18 @@ pcl::cloud_composer::SanitizeCloudTool::performAction (ConstItemList input_data,
 
   if (input_item->type () ==  CloudComposerItem::CLOUD_ITEM )
   {
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
 
     bool keep_organized = parameter_model_->getProperty("Keep Organized").toBool ();
 
     //////////////// THE WORK - FILTERING NANS ///////////////////
     // Create the filtering object
-    pcl::PassThrough<sensor_msgs::PointCloud2> pass_filter;
+    pcl::PassThrough<pcl::PCLPointCloud2> pass_filter;
     pass_filter.setInputCloud (input_cloud);
     pass_filter.setKeepOrganized (keep_organized);
 
     //Create output cloud
-    sensor_msgs::PointCloud2::Ptr cloud_filtered = boost::make_shared<sensor_msgs::PointCloud2> ();
+    pcl::PCLPointCloud2::Ptr cloud_filtered = boost::make_shared<pcl::PCLPointCloud2> ();
     //Filter!  
     pass_filter.filter (*cloud_filtered);
 

apps/cloud_composer/tools/statistical_outlier_removal.cpp

@@ -44,20 +44,20 @@ pcl::cloud_composer::StatisticalOutlierRemovalTool::performAction (ConstItemList
 
   if (input_item->type () ==  CloudComposerItem::CLOUD_ITEM )
   {
-    sensor_msgs::PointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <sensor_msgs::PointCloud2::ConstPtr> ();
+    pcl::PCLPointCloud2::ConstPtr input_cloud = input_item->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
 
     int mean_k = parameter_model_->getProperty("Mean K").toInt ();
     double std_dev_thresh = parameter_model_->getProperty ("Std Dev Thresh").toDouble ();
 
     //////////////// THE WORK - FILTERING OUTLIERS ///////////////////
     // Create the filtering object
-    pcl::StatisticalOutlierRemoval<sensor_msgs::PointCloud2> sor;
+    pcl::StatisticalOutlierRemoval<pcl::PCLPointCloud2> sor;
     sor.setInputCloud (input_cloud);
     sor.setMeanK (mean_k);
     sor.setStddevMulThresh (std_dev_thresh);
 
     //Create output cloud
-    sensor_msgs::PointCloud2::Ptr cloud_filtered (new sensor_msgs::PointCloud2);
+    pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2);
     //Filter!  
     sor.filter (*cloud_filtered);