Deprecate getFieldIndex()/getFields() with first argument as cloud

apps/src/pcd_select_object_plane.cpp

@@ -529,7 +529,7 @@ class ObjectSelection
         // If the dataset is organized, and has RGB data, create an image viewer
         std::vector<pcl::PCLPointField> fields;
         int rgba_index = -1;
-        rgba_index = getFieldIndex (*cloud_, "rgba", fields);
+        rgba_index = getFieldIndex<PointT> ("rgba", fields);
 
         if (rgba_index >= 0)
         {

common/include/pcl/common/impl/io.hpp

@@ -65,22 +65,19 @@ template <typename PointT> int
 pcl::getFieldIndex (const std::string &field_name, 
                     std::vector<pcl::PCLPointField> &fields)
 {
-  fields.clear ();
-  // Get the fields list
-  pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
-  for (size_t d = 0; d < fields.size (); ++d)
-    if (fields[d].name == field_name)
-      return (static_cast<int>(d));
-  return (-1);
+  getFields<PointT> (fields);
+  const auto result = std::find_if(fields.begin (), fields.end (),
+      [&field_name](const auto& field) { return field.name == field_name; });
+  if (result == fields.end ())
+    return -1;
+  return std::distance(fields.begin (), result);
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void
 pcl::getFields (const pcl::PointCloud<PointT> &, std::vector<pcl::PCLPointField> &fields)
 {
-  fields.clear ();
-  // Get the fields list
-  pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
+  getFields<PointT> (fields);
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

common/include/pcl/common/io.h

@@ -71,7 +71,9 @@ namespace pcl
     * \param[out] fields a vector to the original \a PCLPointField vector that the raw PointCloud message contains
     * \ingroup common
     */
-  template <typename PointT> inline int 
+  template <typename PointT>
+  [[deprecated("use getFieldIndex<typename decltype(cloud)::PointType> () instead")]]
+  inline int
   getFieldIndex (const pcl::PointCloud<PointT> &cloud, const std::string &field_name, 
                  std::vector<pcl::PCLPointField> &fields);
 
@@ -89,7 +91,9 @@ namespace pcl
     * \param[out] fields a vector to the original \a PCLPointField vector that the raw PointCloud message contains
     * \ingroup common
     */
-  template <typename PointT> inline void 
+  template <typename PointT>
+  [[deprecated("use getFields<typename decltype(cloud)::PointType> () instead")]]
+  inline void
   getFields (const pcl::PointCloud<PointT> &cloud, std::vector<pcl::PCLPointField> &fields);
 
   /** \brief Get the list of available fields (i.e., dimension/channel)

doc/tutorials/content/sources/vfh_recognition/build_tree.cpp

@@ -46,7 +46,7 @@ loadHist (const boost::filesystem::path &path, vfh_model &vfh)
   vfh.second.resize (308);
 
   std::vector <pcl::PCLPointField> fields;
-  pcl::getFieldIndex (point, "vfh", fields);
+  pcl::getFieldIndex<pcl::VFHSignature308> ("vfh", fields);
 
   for (size_t i = 0; i < fields[vfh_idx].count; ++i)
   {

doc/tutorials/content/sources/vfh_recognition/nearest_neighbors.cpp

@@ -49,7 +49,7 @@ loadHist (const boost::filesystem::path &path, vfh_model &vfh)
   vfh.second.resize (308);
 
   std::vector <pcl::PCLPointField> fields;
-  getFieldIndex (point, "vfh", fields);
+  getFieldIndex<pcl::VFHSignature308> ("vfh", fields);
 
   for (size_t i = 0; i < fields[vfh_idx].count; ++i)
   {

filters/include/pcl/filters/impl/approximate_voxel_grid.hpp

@@ -71,9 +71,9 @@ pcl::ApproximateVoxelGrid<PointT>::applyFilter (PointCloud &output)
   // ---[ RGB special case
   std::vector<pcl::PCLPointField> fields;
   int rgba_index = -1;
-  rgba_index = pcl::getFieldIndex (*input_, "rgb", fields);
+  rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
   if (rgba_index == -1)
-    rgba_index = pcl::getFieldIndex (*input_, "rgba", fields);
+    rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
   if (rgba_index >= 0)
   {
     rgba_index = fields[rgba_index].offset;

filters/include/pcl/filters/impl/passthrough.hpp

@@ -100,7 +100,7 @@ pcl::PassThrough<PointT>::applyFilterIndices (std::vector<int> &indices)
   {
     // Attempt to get the field name's index
     std::vector<pcl::PCLPointField> fields;
-    int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
+    int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
     if (distance_idx == -1)
     {
       PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());

filters/include/pcl/filters/impl/voxel_grid.hpp

@@ -55,7 +55,7 @@ pcl::getMinMax3D (const typename pcl::PointCloud<PointT>::ConstPtr &cloud,
 
   // Get the fields list and the distance field index
   std::vector<pcl::PCLPointField> fields;
-  int distance_idx = pcl::getFieldIndex (*cloud, distance_field_name, fields);
+  int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
 
   float distance_value;
   // If dense, no need to check for NaNs
@@ -134,7 +134,7 @@ pcl::getMinMax3D (const typename pcl::PointCloud<PointT>::ConstPtr &cloud,
 
   // Get the fields list and the distance field index
   std::vector<pcl::PCLPointField> fields;
-  int distance_idx = pcl::getFieldIndex (*cloud, distance_field_name, fields);
+  int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
 
   float distance_value;
   // If dense, no need to check for NaNs
@@ -269,7 +269,7 @@ pcl::VoxelGrid<PointT>::applyFilter (PointCloud &output)
   {
     // Get the distance field index
     std::vector<pcl::PCLPointField> fields;
-    int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
+    int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
     if (distance_idx == -1)
       PCL_WARN ("[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
 

filters/include/pcl/filters/impl/voxel_grid_covariance.hpp

@@ -109,9 +109,9 @@ pcl::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
   // ---[ RGB special case
   std::vector<pcl::PCLPointField> fields;
   int rgba_index = -1;
-  rgba_index = pcl::getFieldIndex (*input_, "rgb", fields);
+  rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
   if (rgba_index == -1)
-    rgba_index = pcl::getFieldIndex (*input_, "rgba", fields);
+    rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
   if (rgba_index >= 0)
   {
     rgba_index = fields[rgba_index].offset;
@@ -123,7 +123,7 @@ pcl::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
   {
     // Get the distance field index
     std::vector<pcl::PCLPointField> fields;
-    int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
+    int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
     if (distance_idx == -1)
       PCL_WARN ("[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
 

filters/src/voxel_grid_label.cpp

@@ -99,9 +99,9 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
   // ---[ RGB special case
   std::vector<pcl::PCLPointField> fields;
   int rgba_index = -1;
-  rgba_index = pcl::getFieldIndex (*input_, "rgb", fields);
+  rgba_index = pcl::getFieldIndex<PointXYZRGBL> ("rgb", fields);
   if (rgba_index == -1)
-    rgba_index = pcl::getFieldIndex (*input_, "rgba", fields);
+    rgba_index = pcl::getFieldIndex<PointXYZRGBL> ("rgba", fields);
   if (rgba_index >= 0)
   {
     rgba_index = fields[rgba_index].offset;
@@ -110,7 +110,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
 
   // ---[ Label special case
   int label_index = -1;
-  label_index = pcl::getFieldIndex (*input_, "label", fields);
+  label_index = pcl::getFieldIndex<PointXYZRGBL> ("label", fields);
 
   std::vector<cloud_point_index_idx> index_vector;
   index_vector.reserve(input_->points.size());
@@ -120,7 +120,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
   {
     // Get the distance field index
     std::vector<pcl::PCLPointField> fields;
-    int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
+    int distance_idx = pcl::getFieldIndex<PointXYZRGBL> (filter_field_name_, fields);
     if (distance_idx == -1)
       PCL_WARN ("[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
 

io/include/pcl/compression/impl/octree_pointcloud_compression.hpp

@@ -74,10 +74,10 @@ namespace pcl
         cloud_with_color_ = false;
         std::vector<pcl::PCLPointField> fields;
         int rgba_index = -1;
-        rgba_index = pcl::getFieldIndex (*this->input_, "rgb", fields);
+        rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
         if (rgba_index == -1)
         {
-          rgba_index = pcl::getFieldIndex (*this->input_, "rgba", fields);
+          rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
         }
         if (rgba_index >= 0)
         {
@@ -190,9 +190,9 @@ namespace pcl
       cloud_with_color_ = false;
       std::vector<pcl::PCLPointField> fields;
       int rgba_index = -1;
-      rgba_index = pcl::getFieldIndex (*output_, "rgb", fields);
+      rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
       if (rgba_index == -1)
-        rgba_index = pcl::getFieldIndex (*output_, "rgba", fields);
+        rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
       if (rgba_index >= 0)
       {
         point_color_offset_ = static_cast<unsigned char> (fields[rgba_index].offset);

io/include/pcl/io/impl/point_cloud_image_extractors.hpp

@@ -71,9 +71,9 @@ template <typename PointT> bool
 pcl::io::PointCloudImageExtractorFromNormalField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
 {
   std::vector<pcl::PCLPointField> fields;
-  int field_x_idx = pcl::getFieldIndex (cloud, "normal_x", fields);
-  int field_y_idx = pcl::getFieldIndex (cloud, "normal_y", fields);
-  int field_z_idx = pcl::getFieldIndex (cloud, "normal_z", fields);
+  int field_x_idx = pcl::getFieldIndex<PointT> ("normal_x", fields);
+  int field_y_idx = pcl::getFieldIndex<PointT> ("normal_y", fields);
+  int field_z_idx = pcl::getFieldIndex<PointT> ("normal_z", fields);
   if (field_x_idx == -1 || field_y_idx == -1 || field_z_idx == -1)
     return (false);
   const size_t offset_x = fields[field_x_idx].offset;
@@ -107,10 +107,10 @@ template <typename PointT> bool
 pcl::io::PointCloudImageExtractorFromRGBField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
 {
   std::vector<pcl::PCLPointField> fields;
-  int field_idx = pcl::getFieldIndex (cloud, "rgb", fields);
+  int field_idx = pcl::getFieldIndex<PointT> ("rgb", fields);
   if (field_idx == -1)
   {
-    field_idx = pcl::getFieldIndex (cloud, "rgba", fields);
+    field_idx = pcl::getFieldIndex<PointT> ("rgba", fields);
     if (field_idx == -1)
       return (false);
   }
@@ -139,7 +139,7 @@ template <typename PointT> bool
 pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
 {
   std::vector<pcl::PCLPointField> fields;
-  int field_idx = pcl::getFieldIndex (cloud, "label", fields);
+  int field_idx = pcl::getFieldIndex<PointT> ("label", fields);
   if (field_idx == -1)
     return (false);
   const size_t offset = fields[field_idx].offset;
@@ -244,7 +244,7 @@ template <typename PointT> bool
 pcl::io::PointCloudImageExtractorWithScaling<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
 {
   std::vector<pcl::PCLPointField> fields;
-  int field_idx = pcl::getFieldIndex (cloud, field_name_, fields);
+  int field_idx = pcl::getFieldIndex<PointT> (field_name_, fields);
   if (field_idx == -1)
     return (false);
   const size_t offset = fields[field_idx].offset;

io/include/pcl/io/pcd_grabber.h

@@ -276,9 +276,9 @@ namespace pcl
 
     // ---[ RGB special case
     std::vector<pcl::PCLPointField> fields;
-    int rgba_index = pcl::getFieldIndex (*cloud, "rgb", fields);
+    int rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
     if (rgba_index == -1)
-      rgba_index = pcl::getFieldIndex (*cloud, "rgba", fields);
+      rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
     if (rgba_index >= 0)
     {
       rgba_index = fields[rgba_index].offset;

ml/include/pcl/ml/impl/kmeans.hpp

@@ -88,11 +88,11 @@ pcl::Kmeans<PointT>::cluster (std::vector<PointIndices> &clusters)
     int x_index = -1;
     int y_index = -1;
     int z_index = -1;
-    x_index = pcl::getFieldIndex (point, "x", fields);
+    x_index = pcl::getFieldIndex<PointT> ("x", fields);
     if (y_index != -1)
-      y_index = pcl::getFieldIndex (point, "y", fields);
+      y_index = pcl::getFieldIndex<PointT> ("y", fields);
     if (z_index != -1)
-      z_index = pcl::getFieldIndex (point, "z", fields);
+      z_index = pcl::getFieldIndex<PointT> ("z", fields);
 
     if (x_index == -1 && y_index == -1 && z_index == -1)
     {
@@ -135,7 +135,7 @@ pcl::Kmeans<PointT>::cluster (std::vector<PointIndices> &clusters)
   // if cluster field name is set, check if field name is valid
   else
   {
-    user_index = pcl::getFieldIndex (point, cluster_field_name_.c_str (), fields);
+    user_index = pcl::getFieldIndex<PointT> (cluster_field_name_.c_str (), fields);
 
     if (user_index == -1)
     {
@@ -150,7 +150,7 @@ pcl::Kmeans<PointT>::cluster (std::vector<PointIndices> &clusters)
 /*
   int xyz_index = -1;
   pcl::PointCloud <PointT> point;
-  xyz_index = pcl::getFieldIndex (point, "r", fields);
+  xyz_index = pcl::getFieldIndex<PointT> ("r", fields);
 
 
   if (xyz_index == -1 && strcmp (cluster_field_name_.c_str (), "") == 0)

ml/src/kmeans.cpp

@@ -203,11 +203,11 @@ pcl::Kmeans::cluster (std::vector<PointIndices> &clusters)
     int x_index = -1;
     int y_index = -1;
     int z_index = -1;
-    x_index = pcl::getFieldIndex (point, "x", fields);
+    x_index = pcl::getFieldIndex<PointT> ("x", fields);
     if (y_index != -1)
-      y_index = pcl::getFieldIndex (point, "y", fields);
+      y_index = pcl::getFieldIndex<PointT> ("y", fields);
     if (z_index != -1)
-      z_index = pcl::getFieldIndex (point, "z", fields);
+      z_index = pcl::getFieldIndex<PointT> ("z", fields);
 
     if (x_index == -1 && y_index == -1 && z_index == -1)
     {
@@ -253,7 +253,7 @@ pcl::Kmeans::cluster (std::vector<PointIndices> &clusters)
   // if cluster field name is set, check if field name is valid
   else
   {
-    user_index = pcl::getFieldIndex (point, cluster_field_name_.c_str (), fields);
+    user_index = pcl::getFieldIndex<PointT> (cluster_field_name_.c_str (), fields);
 
     if (user_index == -1)
     {
@@ -268,7 +268,7 @@ pcl::Kmeans::cluster (std::vector<PointIndices> &clusters)
 /*
   int xyz_index = -1;
   pcl::PointCloud <PointT> point;
-  xyz_index = pcl::getFieldIndex (point, "r", fields);
+  xyz_index = pcl::getFieldIndex<PointT> ("r", fields);
 
 
   if (xyz_index == -1 && strcmp (cluster_field_name_.c_str (), "") == 0)

segmentation/include/pcl/segmentation/impl/crf_segmentation.hpp

@@ -250,9 +250,9 @@ pcl::CrfSegmentation<PointT>::createDataVectorFromVoxelGrid ()
   // check if we have color data
   bool color_data = false;
   int rgba_index = -1;  
-  rgba_index = pcl::getFieldIndex (*input_cloud_, "rgb", fields);
+  rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
   if (rgba_index == -1)
-    rgba_index = pcl::getFieldIndex (*input_cloud_, "rgba", fields);
+    rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
   if (rgba_index >= 0)
   {
     color_data = true;
@@ -264,7 +264,7 @@ pcl::CrfSegmentation<PointT>::createDataVectorFromVoxelGrid ()
   // check if we have normal data
   bool normal_data = false;
   int normal_index = -1;  
-  rgba_index = pcl::getFieldIndex (*input_cloud_, "normal_x", fields);
+  rgba_index = pcl::getFieldIndex<PointT> ("normal_x", fields);
   if (rgba_index >= 0)
   {
     normal_data = true;

segmentation/include/pcl/segmentation/impl/unary_classifier.hpp

@@ -74,7 +74,7 @@ pcl::UnaryClassifier<PointT>::setInputCloud (typename pcl::PointCloud<PointT>::P
   std::vector<pcl::PCLPointField> fields;
 
   int label_index = -1;
-  label_index = pcl::getFieldIndex (point, "label", fields);
+  label_index = pcl::getFieldIndex<PointT> ("label", fields);
 
   if (label_index != -1)
     label_field_ = true;
@@ -137,7 +137,7 @@ pcl::UnaryClassifier<PointT>::findClusters (typename pcl::PointCloud<PointT>::Pt
   std::vector <pcl::PCLPointField> fields;
   int label_idx = -1;
   pcl::PointCloud <PointT> point;
-  label_idx = pcl::getFieldIndex (point, "label", fields);
+  label_idx = pcl::getFieldIndex<PointT> ("label", fields);
 
   if (label_idx != -1)
   {
@@ -173,7 +173,7 @@ pcl::UnaryClassifier<PointT>::getCloudWithLabel (typename pcl::PointCloud<PointT
   std::vector <pcl::PCLPointField> fields;
   int label_idx = -1;
   pcl::PointCloud <PointT> point;
-  label_idx = pcl::getFieldIndex (point, "label", fields);
+  label_idx = pcl::getFieldIndex<PointT> ("label", fields);
 
   if (label_idx != -1)
   {