Merge pull request #1366 from rolalaro/fix_pcl_pointxyz

[FIX] Fix PCL version incompatibility when using PCL 1.10.0
lagadic · Apr 12, 2024 · 90e2bfc · 90e2bfc
2 parents b22a95e + 0f31e98
commit 90e2bfc
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diff --git a/modules/core/include/visp3/core/vpImageConvert.h b/modules/core/include/visp3/core/vpImageConvert.h
@@ -69,7 +69,12 @@
 #include <visp3/core/vpImageException.h>
 #include <visp3/core/vpPixelMeterConversion.h>
 
+#include <pcl/pcl_config.h>
+#if PCL_VERSION_COMPARE(>=,1,14,1)
 #include <pcl/impl/point_types.hpp>
+#else
+#include <pcl/point_types.h>
+#endif
 #include <pcl/point_cloud.h>
 #endif
 

diff --git a/modules/core/src/image/vpImageConvert_pcl.cpp b/modules/core/src/image/vpImageConvert_pcl.cpp
@@ -216,8 +216,16 @@ int vpImageConvert::depthToPointCloud(const vpImage<vpRGBa> &color, const vpImag
 #if defined(_OPENMP)
               std::lock_guard<std::mutex> lock(mutex);
 #endif
+#if PCL_VERSION_COMPARE(>=,1,14,1)
               pointcloud->push_back(pcl::PointXYZRGB(point_3D[0], point_3D[1], point_3D[2],
                                                      color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B));
+#else
+              pcl::PointXYZRGB pt(color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B);
+              pt.x = point_3D[0];
+              pt.y = point_3D[1];
+              pt.z = point_3D[2];
+              pointcloud->push_back(pcl::PointXYZRGB(pt));
+#endif
             }
           }
         }
@@ -251,8 +259,16 @@ int vpImageConvert::depthToPointCloud(const vpImage<vpRGBa> &color, const vpImag
 #if defined(_OPENMP)
             std::lock_guard<std::mutex> lock(mutex);
 #endif
+#if PCL_VERSION_COMPARE(>=,1,14,1)
             pointcloud->push_back(pcl::PointXYZRGB(point_3D[0], point_3D[1], point_3D[2],
                                                    color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B));
+#else
+            pcl::PointXYZRGB pt(color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B);
+            pt.x = point_3D[0];
+            pt.y = point_3D[1];
+            pt.z = point_3D[2];
+            pointcloud->push_back(pcl::PointXYZRGB(pt));
+#endif
           }
         }
       }