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Use I/O helper method in pcl::LineRGBD #2796

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Jan 24, 2019
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Use I/O helper method in pcl::LineRGBD #2796

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19 changes: 3 additions & 16 deletions recognition/include/pcl/recognition/impl/linemod/line_rgbd.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,19 +43,6 @@
#include <fcntl.h>
#include <pcl/point_cloud.h>
#include <limits>
#ifdef _WIN32
# include <io.h>
# include <windows.h>
# define pcl_open _open
# define pcl_close(fd) _close(fd)
# define pcl_lseek(fd,offset,origin) _lseek(fd,offset,origin)
#else
#include <unistd.h>
# include <sys/mman.h>
# define pcl_open open
# define pcl_close(fd) close(fd)
# define pcl_lseek(fd,offset,origin) lseek(fd,offset,origin)
#endif

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointXYZT, typename PointRGBT> bool
Expand Down Expand Up @@ -87,7 +74,7 @@ template <typename PointXYZT, typename PointRGBT> bool
pcl::LineRGBD<PointXYZT, PointRGBT>::loadTemplates (const std::string &file_name, const size_t object_id)
{
// Open the file
int ltm_fd = pcl_open (file_name.c_str (), O_RDONLY | O_CLOEXEC);
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int ltm_fd = io::raw_open(file_name.c_str (), O_RDONLY);
if (ltm_fd == -1)
return (false);

Expand Down Expand Up @@ -151,12 +138,12 @@ pcl::LineRGBD<PointXYZT, PointRGBT>::loadTemplates (const std::string &file_name
delete [] buffer;
}

if (static_cast<int> (pcl_lseek (ltm_fd, ltm_offset, SEEK_SET)) < 0)
if (io::raw_lseek(ltm_fd, ltm_offset, SEEK_SET) < 0)
break;
}

// Close the file
pcl_close (ltm_fd);
io::raw_close(ltm_fd);

// Compute 3D bounding boxes from the template point clouds
bounding_boxes_.resize (template_point_clouds_.size ());
Expand Down