Removes deprecated usage of getFields(cloud, fields)

Enhances PointCloudLibrary#3365
kunaltyagi · Sep 27, 2019 · 9d13d25 · 9d13d25
1 parent 29f192a
commit 9d13d25
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Showing 8 changed files with 18 additions and 28 deletions.
diff --git a/filters/include/pcl/filters/impl/conditional_removal.hpp b/filters/include/pcl/filters/impl/conditional_removal.hpp
@@ -56,9 +56,7 @@ pcl::FieldComparison<PointT>::FieldComparison (
 
   // Get all fields
   std::vector<pcl::PCLPointField> point_fields;
-  // Use a dummy cloud to get the field types in a clever way
-  PointCloud<PointT> dummyCloud;
-  pcl::getFields (dummyCloud, point_fields);
+  pcl::getFields<PointT> (point_fields);
 
   // Find field_name
   if (point_fields.empty ())
@@ -143,9 +141,7 @@ pcl::PackedRGBComparison<PointT>::PackedRGBComparison (
 {
   // get all the fields
   std::vector<pcl::PCLPointField> point_fields;
-  // Use a dummy cloud to get the field types in a clever way
-  PointCloud<PointT> dummyCloud;
-  pcl::getFields (dummyCloud, point_fields);
+  pcl::getFields<PointT> (point_fields);
 
   // Locate the "rgb" field
   size_t d;
@@ -235,9 +231,7 @@ pcl::PackedHSIComparison<PointT>::PackedHSIComparison (
 {
   // Get all the fields
   std::vector<pcl::PCLPointField> point_fields;
-  // Use a dummy cloud to get the field types in a clever way
-  PointCloud<PointT> dummyCloud;
-  pcl::getFields (dummyCloud, point_fields);
+  pcl::getFields<PointT> (point_fields);
 
   // Locate the "rgb" field
   size_t d;
@@ -384,9 +378,7 @@ pcl::TfQuadraticXYZComparison<PointT>::TfQuadraticXYZComparison () :
 {
   // get all the fields
   std::vector<pcl::PCLPointField> point_fields;
-  // Use a dummy cloud to get the field types in a clever way
-  PointCloud<PointT> dummyCloud;
-  pcl::getFields (dummyCloud, point_fields);
+  pcl::getFields<PointT> (point_fields);
 
   // Locate the "x" field
   size_t dX;
@@ -449,9 +441,7 @@ pcl::TfQuadraticXYZComparison<PointT>::TfQuadraticXYZComparison (const pcl::Comp
 {
   // get all the fields
   std::vector<pcl::PCLPointField> point_fields;
-  // Use a dummy cloud to get the field types in a clever way
-  PointCloud<PointT> dummyCloud;
-  pcl::getFields (dummyCloud, point_fields);
+  pcl::getFields<PointT> (point_fields);
 
   // Locate the "x" field
   size_t dX;

diff --git a/filters/include/pcl/filters/impl/random_sample.hpp b/filters/include/pcl/filters/impl/random_sample.hpp
@@ -57,7 +57,7 @@ pcl::RandomSample<PointT>::applyFilter (PointCloud &output)
     copyPointCloud (*input_, output);
     // Get X, Y, Z fields
     std::vector<pcl::PCLPointField> fields;
-    pcl::getFields (*input_, fields);
+    pcl::getFields<PointT> (fields);
     std::vector<size_t> offsets;
     for (const auto &field : fields)
     {

diff --git a/io/include/pcl/io/impl/pcd_io.hpp b/io/include/pcl/io/impl/pcd_io.hpp
@@ -63,7 +63,7 @@ pcl::PCDWriter::generateHeader (const pcl::PointCloud<PointT> &cloud, const int
          "\nFIELDS";
 
   std::vector<pcl::PCLPointField> fields;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
 
   std::stringstream field_names, field_types, field_sizes, field_counts;
   for (const auto &field : fields)
@@ -146,7 +146,7 @@ pcl::PCDWriter::writeBinary (const std::string &file_name,
   size_t fsize = 0;
   size_t data_size = 0;
   size_t nri = 0;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
   // Compute the total size of the fields
   for (const auto &field : fields)
   {
@@ -278,7 +278,7 @@ pcl::PCDWriter::writeBinaryCompressed (const std::string &file_name,
   size_t fsize = 0;
   size_t data_size = 0;
   size_t nri = 0;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
   std::vector<int> fields_sizes (fields.size ());
   // Compute the total size of the fields
   for (const auto &field : fields)
@@ -465,7 +465,7 @@ pcl::PCDWriter::writeASCII (const std::string &file_name, const pcl::PointCloud<
   fs.imbue (std::locale::classic ());
 
   std::vector<pcl::PCLPointField> fields;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
 
   // Write the header information
   fs << generateHeader<PointT> (cloud) << "DATA ascii\n";
@@ -626,7 +626,7 @@ pcl::PCDWriter::writeBinary (const std::string &file_name,
   size_t fsize = 0;
   size_t data_size = 0;
   size_t nri = 0;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
   // Compute the total size of the fields
   for (const auto &field : fields)
   {
@@ -749,7 +749,7 @@ pcl::PCDWriter::writeASCII (const std::string &file_name,
   fs.imbue (std::locale::classic ());
 
   std::vector<pcl::PCLPointField> fields;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointT> (fields);
 
   // Write the header information
   fs << generateHeader<PointT> (cloud, static_cast<int> (indices.size ())) << "DATA ascii\n";

diff --git a/keypoints/include/pcl/keypoints/impl/sift_keypoint.hpp b/keypoints/include/pcl/keypoints/impl/sift_keypoint.hpp
@@ -106,7 +106,7 @@ pcl::SIFTKeypoint<PointInT, PointOutT>::detectKeypoints (PointCloudOut &output)
   }
 
   // Check if the output has a "scale" field
-  scale_idx_ = pcl::getFieldIndex<PointOutT> (output, "scale", out_fields_);
+  scale_idx_ = pcl::getFieldIndex<PointOutT> ("scale", out_fields_);
 
   // Make sure the output cloud is empty
   output.points.clear ();

diff --git a/keypoints/include/pcl/keypoints/impl/susan.hpp b/keypoints/include/pcl/keypoints/impl/susan.hpp
@@ -306,7 +306,7 @@ pcl::SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT>::detectKeypoints (P
   response->reserve (surface_->size ());
 
   // Check if the output has a "label" field
-  label_idx_ = pcl::getFieldIndex<PointOutT> (output, "label", out_fields_);
+  label_idx_ = pcl::getFieldIndex<PointOutT> ("label", out_fields_);
 
   const int input_size = static_cast<int> (input_->size ());
 //#ifdef _OPENMP

diff --git a/registration/include/pcl/registration/correspondence_estimation.h b/registration/include/pcl/registration/correspondence_estimation.h
@@ -115,7 +115,7 @@ namespace pcl
         {
           source_cloud_updated_ = true;
           PCLBase<PointSource>::setInputCloud (cloud);
-          pcl::getFields (*cloud, input_fields_);
+          pcl::getFields<PointSource> (input_fields_);
         }
 
         /** \brief Get a pointer to the input point cloud dataset target. */

diff --git a/registration/include/pcl/registration/icp.h b/registration/include/pcl/registration/icp.h
@@ -178,7 +178,7 @@ namespace pcl
       {
         Registration<PointSource, PointTarget, Scalar>::setInputSource (cloud);
         std::vector<pcl::PCLPointField> fields;
-        pcl::getFields (*cloud, fields);
+        pcl::getFields<PointSource> (fields);
         source_has_normals_ = false;
         for (const auto &field : fields)
         {
@@ -213,7 +213,7 @@ namespace pcl
       {
         Registration<PointSource, PointTarget, Scalar>::setInputTarget (cloud);
         std::vector<pcl::PCLPointField> fields;
-        pcl::getFields (*cloud, fields);
+        pcl::getFields<PointSource> (fields);
         target_has_normals_ = false;
         for (const auto &field : fields)
         {

diff --git a/test/io/test_io.cpp b/test/io/test_io.cpp
@@ -389,7 +389,7 @@ TEST (PCL, IO)
 
   // Test getFieldIndex
   std::vector<pcl::PCLPointField> fields;
-  pcl::getFields (cloud, fields);
+  pcl::getFields<PointXYZI> (fields);
   EXPECT_EQ (fields.size (), size_t (4));
   int x_idx = pcl::getFieldIndex<PointXYZI> ("x", fields);
   EXPECT_EQ (x_idx, 0);