MOD: ReverseEngineering clean (#20555)

* MOD: ReverseEngineering

clean code .
removed old code pcl lib is alwais >then  1.7 (ubuntu 20.04 use pcl 1.10)

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

src/Mod/ReverseEngineering/App/BSplineFitting.cpp

@@ -37,13 +37,11 @@
 #include "BSplineFitting.h"
 
 #include <pcl/pcl_config.h>
-#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
 #include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
-#endif
 
 using namespace Reen;
 
@@ -96,7 +94,6 @@ void BSplineFitting::setBoundaryWeight(double value)
 
 Handle(Geom_BSplineSurface) BSplineFitting::perform()
 {
-#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
     pcl::on_nurbs::NurbsDataSurface data;
     for (std::vector<Base::Vector3f>::const_iterator it = myPoints.begin(); it != myPoints.end();
          ++it) {
@@ -118,7 +115,6 @@ Handle(Geom_BSplineSurface) BSplineFitting::perform()
     // initialize
     ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox(myOrder, &data);
     pcl::on_nurbs::FittingSurface fit(&data, nurbs);
-    //  fit.setQuiet (false); // enable/disable debug output
 
     // surface refinement
     for (unsigned i = 0; i < myRefinement; i++) {
@@ -134,35 +130,6 @@ Handle(Geom_BSplineSurface) BSplineFitting::perform()
         fit.solve();
     }
 
-    // fit B-spline curve
-#if 0
-    // parameters
-    pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
-    curve_params.addCPsAccuracy = 5e-2;
-    curve_params.addCPsIteration = 3;
-    curve_params.maxCPs = 200;
-    curve_params.accuracy = 1e-3;
-    curve_params.iterations = 100;
-
-    curve_params.param.closest_point_resolution = 0;
-    curve_params.param.closest_point_weight = 1.0;
-    curve_params.param.closest_point_sigma2 = 0.1;
-    curve_params.param.interior_sigma2 = 0.00001;
-    curve_params.param.smooth_concavity = 1.0;
-    curve_params.param.smoothness = 1.0;
-
-    // initialisation (circular)
-    pcl::on_nurbs::NurbsDataCurve2d curve_data;
-    curve_data.interior = data.interior_param;
-    curve_data.interior_weight_function.push_back(true);
-    ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D(order, curve_data.interior);
-
-    // curve fitting
-    pcl::on_nurbs::FittingCurve2dASDM curve_fit (&curve_data, curve_nurbs);
-    // curve_fit.setQuiet (false); // enable/disable debug output
-    curve_fit.fitting (curve_params);
-#endif
-
     // u parameters
     int numUKnots = fit.m_nurbs.KnotCount(0);
     int numUPoles = fit.m_nurbs.CVCount(0);
@@ -246,8 +213,5 @@ Handle(Geom_BSplineSurface) BSplineFitting::perform()
                                                                  uPeriodic,
                                                                  vPeriodic);
     return spline;
-#else
-    return Handle(Geom_BSplineSurface)();
-#endif
 }
 #endif  // HAVE_PCL_OPENNURBS

src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp

@@ -182,10 +182,6 @@ void SurfaceTriangulation::perform(const std::vector<Base::Vector3f>& normals)
     gp3.reconstruct(mesh);
 
     MeshConversion::convert(mesh, myMesh);
-
-    // Additional vertex information
-    // std::vector<int> parts = gp3.getPartIDs();
-    // std::vector<int> states = gp3.getPointStates();
 }
 
 // ----------------------------------------------------------------------------
@@ -645,7 +641,6 @@ void Reen::MarchingCubesHoppe::perform(int ksearch)
     NormalEstimation<PointXYZ, Normal> n;
     PointCloud<Normal>::Ptr normals(new PointCloud<Normal>());
     n.setInputCloud(cloud);
-    // n.setIndices (indices[B);
     n.setSearchMethod(tree);
     n.setKSearch(ksearch);
     n.compute(*normals);
@@ -747,16 +742,9 @@ void MeshConversion::convert(const pcl::PolygonMesh& pclMesh, Mesh::MeshObject&
         for (size_t d = 0; d < pclMesh.cloud.fields.size(); ++d) {
             int c = 0;
             // adding vertex
-            if ((pclMesh.cloud.fields[d].datatype ==
-#if PCL_VERSION_COMPARE(>, 1, 6, 0)
-                 pcl::PCLPointField::FLOAT32)
-                &&
-#else
-                 sensor_msgs::PointField::FLOAT32)
-                &&
-#endif
-                (pclMesh.cloud.fields[d].name == "x" || pclMesh.cloud.fields[d].name == "y"
-                 || pclMesh.cloud.fields[d].name == "z")) {
+            if ((pclMesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32)
+                && (pclMesh.cloud.fields[d].name == "x" || pclMesh.cloud.fields[d].name == "y"
+                    || pclMesh.cloud.fields[d].name == "z")) {
                 float value;
                 memcpy(&value,
                        &pclMesh.cloud.data[i * point_size + pclMesh.cloud.fields[d].offset