From: Jochen Sprickerhof Date: Sat, 9 Oct 2021 14:27:50 +0200 Subject: Support for PCL-1.12 --- pcl/pcl_segmentation_180.pxd | 38 +++++++++++++------------------------- setup.py | 6 +++--- 2 files changed, 16 insertions(+), 28 deletions(-) diff --git a/pcl/pcl_segmentation_180.pxd b/pcl/pcl_segmentation_180.pxd index 549a5e3..f85c583 100644 --- a/pcl/pcl_segmentation_180.pxd +++ b/pcl/pcl_segmentation_180.pxd @@ -344,35 +344,23 @@ cdef extern from "pcl/segmentation/edge_aware_plane_comparator.h" namespace "pcl # /** \brief EuclideanClusterComparator is a comparator used for finding clusters supported by planar surfaces. # * This needs to be run as a second pass after extracting planar surfaces, using MultiPlaneSegmentation for example. # * \author Alex Trevor -# template +# template # class EuclideanClusterComparator: public Comparator cdef extern from "pcl/segmentation/euclidean_cluster_comparator.h" namespace "pcl": - cdef cppclass EuclideanClusterComparator[T, NT, LT](Comparator[T]): + cdef cppclass EuclideanClusterComparator[T, LT](Comparator[T]): EuclideanClusterComparator() # public: # typedef typename Comparator::PointCloud PointCloud; # typedef typename Comparator::PointCloudConstPtr PointCloudConstPtr; - # typedef typename pcl::PointCloud PointCloudN; - # typedef typename PointCloudN::Ptr PointCloudNPtr; - # typedef typename PointCloudN::ConstPtr PointCloudNConstPtr; # typedef typename pcl::PointCloud PointCloudL; # typedef typename PointCloudL::Ptr PointCloudLPtr; # typedef typename PointCloudL::ConstPtr PointCloudLConstPtr; - # typedef boost::shared_ptr > Ptr; - # typedef boost::shared_ptr > ConstPtr; + # typedef boost::shared_ptr > Ptr; + # typedef boost::shared_ptr > ConstPtr; # using pcl::Comparator::input_; # # virtual void setInputCloud (const PointCloudConstPtr& cloud) - # /** \brief Provide a pointer to the input normals. - # * \param[in] normals the input normal cloud - # inline void setInputNormals (const PointCloudNConstPtr &normals) - void setInputNormals (const shared_ptr[PointCloud[NT]] &normals) - - # /** \brief Get the input normals. */ - # inline PointCloudNConstPtr getInputNormals () const - const shared_ptr[PointCloud[NT]] getInputNormals () - # /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. # * \param[in] angular_threshold the tolerance in radians # virtual inline void setAngularThreshold (float angular_threshold) @@ -393,7 +381,7 @@ cdef extern from "pcl/segmentation/euclidean_cluster_comparator.h" namespace "pc # /** \brief Set label cloud # * \param[in] labels The label cloud # void setLabels (PointCloudLPtr& labels) - void setLabels (shared_ptr[PointCloud[LT]] &labels) + void setLabels (const shared_ptr[PointCloud[LT]] &labels) # # /** \brief Set labels in the label cloud to exclude. @@ -408,14 +396,14 @@ cdef extern from "pcl/segmentation/euclidean_cluster_comparator.h" namespace "pc # virtual bool compare (int idx1, int idx2) const -ctypedef EuclideanClusterComparator[PointXYZ, Normal, PointXYZ] EuclideanClusterComparator_t -ctypedef EuclideanClusterComparator[PointXYZI, Normal, PointXYZ] EuclideanClusterComparator_PointXYZI_t -ctypedef EuclideanClusterComparator[PointXYZRGB, Normal, PointXYZ] EuclideanClusterComparator_PointXYZRGB_t -ctypedef EuclideanClusterComparator[PointXYZRGBA, Normal, PointXYZ] EuclideanClusterComparator_PointXYZRGBA_t -ctypedef shared_ptr[EuclideanClusterComparator[PointXYZ, Normal, PointXYZ]] EuclideanClusterComparatorPtr_t -ctypedef shared_ptr[EuclideanClusterComparator[PointXYZI, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZI_Ptr_t -ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGB, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZRGB_Ptr_t -ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGBA, Normal, PointXYZ]] EuclideanClusterComparator_PointXYZRGBA_Ptr_t +ctypedef EuclideanClusterComparator[PointXYZ, PointXYZ] EuclideanClusterComparator_t +ctypedef EuclideanClusterComparator[PointXYZI, PointXYZ] EuclideanClusterComparator_PointXYZI_t +ctypedef EuclideanClusterComparator[PointXYZRGB, PointXYZ] EuclideanClusterComparator_PointXYZRGB_t +ctypedef EuclideanClusterComparator[PointXYZRGBA, PointXYZ] EuclideanClusterComparator_PointXYZRGBA_t +ctypedef shared_ptr[EuclideanClusterComparator[PointXYZ, PointXYZ]] EuclideanClusterComparatorPtr_t +ctypedef shared_ptr[EuclideanClusterComparator[PointXYZI, PointXYZ]] EuclideanClusterComparator_PointXYZI_Ptr_t +ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGB, PointXYZ]] EuclideanClusterComparator_PointXYZRGB_Ptr_t +ctypedef shared_ptr[EuclideanClusterComparator[PointXYZRGBA, PointXYZ]] EuclideanClusterComparator_PointXYZRGBA_Ptr_t ### # euclidean_plane_coefficient_comparator.h diff --git a/setup.py b/setup.py index 2737368..9c20d1a 100644 --- a/setup.py +++ b/setup.py @@ -510,7 +510,7 @@ else: os.environ['ARCHFLAGS'] = '' # Try to find PCL. XXX we should only do this when trying to build or install. - PCL_SUPPORTED = ["-1.11", "-1.10", "-1.9", "-1.8", "-1.7", "-1.6", ""] # in order of preference + PCL_SUPPORTED = ["-1.12", "-1.11", "-1.10", "-1.9", "-1.8", "-1.7", "-1.6", ""] # in order of preference for pcl_version in PCL_SUPPORTED: if subprocess.call(['pkg-config', 'pcl_common%s' % pcl_version]) == 0: @@ -546,7 +546,7 @@ else: # ext_args['include_dirs'].append('/usr/include/vtk') # ext_args['include_dirs'].append('/usr/local/include/vtk') # pcl 1.7(Ubuntu) - ext_args['include_dirs'].append('/usr/include/vtk-7.1') + ext_args['include_dirs'].append('/usr/include/vtk-9.0') ext_args['library_dirs'].append('/usr/lib') # ext_args['libraries'].append('libvtk*.so') # pcl 1.8.1(MacOSX) @@ -617,7 +617,7 @@ else: # debug # gdb_debug=True, ] - elif pcl_version == '-1.10' or pcl_version == '-1.11': + elif pcl_version == '-1.10' or pcl_version == '-1.11' or pcl_version == '-1.12': module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args), Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", extra_compile_args=['-fno-strict-aliasing'], **ext_args), # Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),