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+ fix for pcl 1.6

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This commit is contained in:
wmayer
2014-08-28 00:02:58 +02:00
parent 3f377c7c0e
commit c043ec75d9
2 changed files with 55 additions and 9 deletions
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28
src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
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@@ -31,19 +31,24 @@
// http://svn.pointclouds.org/pcl/tags/pcl-1.5.1/test/
#if defined(PCL_FOUND)
#include <pcl/pcl_config.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/mls.h>
#include <pcl/point_traits.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/grid_projection.h>
#include <pcl/surface/convex_hull.h>
#include <pcl/surface/concave_hull.h>
//#include <pcl/surface/convex_hull.h>
//#include <pcl/surface/concave_hull.h>
#include <pcl/surface/organized_fast_mesh.h>
#include <pcl/surface/ear_clipping.h>
#include <pcl/common/common.h>
#include <boost/random.hpp>
#ifndef PCL_REVISION_VERSION
#define PCL_REVISION_VERSION 0
#endif
using namespace pcl;
using namespace pcl::io;
using namespace std;
@@ -104,10 +109,10 @@ void SurfaceTriangulation::perform()
gp3.reconstruct (mesh);
// number of points
int nr_points = mesh.cloud.width * mesh.cloud.height;
int point_size = mesh.cloud.data.size () / nr_points;
size_t nr_points = mesh.cloud.width * mesh.cloud.height;
size_t point_size = mesh.cloud.data.size () / nr_points;
// number of faces for header
int nr_faces = mesh.polygons.size ();
size_t nr_faces = mesh.polygons.size ();
MeshCore::MeshPointArray points;
points.reserve(nr_points);
@@ -116,13 +121,18 @@ void SurfaceTriangulation::perform()
// get vertices
MeshCore::MeshPoint vertex;
for (int i = 0; i < nr_points; ++i) {
for (size_t i = 0; i < nr_points; ++i) {
int xyz = 0;
for (size_t d = 0; d < mesh.cloud.fields.size(); ++d) {
int c = 0;
// adding vertex
if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
mesh.cloud.fields[d].name == "x" ||
if ((mesh.cloud.fields[d].datatype ==
#if PCL_VERSION_COMPARE(>,1,6,0)
pcl::PCLPointField::FLOAT32) &&
#else
sensor_msgs::PointField::FLOAT32) &&
#endif
(mesh.cloud.fields[d].name == "x" ||
mesh.cloud.fields[d].name == "y" ||
mesh.cloud.fields[d].name == "z"))
{
@@ -138,7 +148,7 @@ void SurfaceTriangulation::perform()
}
// get faces
MeshCore::MeshFacet face;
for(int i = 0; i < nr_faces; i++) {
for (size_t i = 0; i < nr_faces; i++) {
face._aulPoints[0] = mesh.polygons[i].vertices[0];
face._aulPoints[1] = mesh.polygons[i].vertices[1];
face._aulPoints[2] = mesh.polygons[i].vertices[2];