diff options
22 files changed, 1153 insertions, 208 deletions
diff --git a/dev-python/django-sortedm2m/django-sortedm2m-2.0.0.ebuild b/dev-python/django-sortedm2m/django-sortedm2m-2.0.0.ebuild index f513c330485d..7e0513e1cb52 100644 --- a/dev-python/django-sortedm2m/django-sortedm2m-2.0.0.ebuild +++ b/dev-python/django-sortedm2m/django-sortedm2m-2.0.0.ebuild @@ -21,7 +21,11 @@ IUSE="test" RESTRICT="!test? ( test )" RDEPEND="dev-python/django[${PYTHON_USEDEP}]" -BDEPEND="test? ( ${RDEPEND} )" +BDEPEND=" + test? ( + $(python_gen_impl_dep sqlite) + ${RDEPEND} + )" python_test() { local -x PYTHONPATH=test_project:${PYTHONPATH} diff --git a/dev-python/easy-thumbnails/easy-thumbnails-2.7.ebuild b/dev-python/easy-thumbnails/easy-thumbnails-2.7.ebuild index 3aabbec54a96..f532eb55869d 100644 --- a/dev-python/easy-thumbnails/easy-thumbnails-2.7.ebuild +++ b/dev-python/easy-thumbnails/easy-thumbnails-2.7.ebuild @@ -23,6 +23,7 @@ RDEPEND=" " BDEPEND=" test? ( + $(python_gen_impl_dep sqlite) ${RDEPEND} dev-python/testfixtures[${PYTHON_USEDEP}] ) diff --git a/dev-ros/pcl_conversions/Manifest b/dev-ros/pcl_conversions/Manifest index 463eeebad32a..111bcc238e1c 100644 --- a/dev-ros/pcl_conversions/Manifest +++ b/dev-ros/pcl_conversions/Manifest @@ -1,4 +1 @@ -DIST pcl_conversions-0.2.1.tar.gz 8450 BLAKE2B a77cf70f751c7d80bcdee1214554aecaf1cd3518266fed75f730c865f3ccff9ba2cb502861084c9792df4850fe411e6606c94afb2bdc490cad396be0b319763e SHA512 a9d8a2b45463d67d858ee9b62f0e895f808c79b3bac3d2833c6ba02bd36bdeec0d4697897446c9e2968559667e1d9c5f93df6b583f13fd3b26220d3cd0a71632 -DIST perception_pcl-1.6.1.tar.gz 82552 BLAKE2B a442c9df193e38b6aca9e45ec3a469d6603bc2c909fc8c33ad612b2b6448956863555608cb0a0102593e2e71aa7f54ae88b677c2bfbde7df23b114ff4ca83c8f SHA512 c0b63833dd12f3eee5f5ec1e5d8f8bd9c001f1f1787572717a0845fa9a18862bb49a134638f9f0bde5587ac26ab8fd9e6534fcd5ed6b69842780a6fd3762fb5c -DIST perception_pcl-1.6.2.tar.gz 82896 BLAKE2B dc5d4e25b1841ffde720f7f0231570fcca687d32158da0bb9510f37b7cefbd71dd774bae31a0aa8fdfe7330c98721a7d0df7236bbc9452f9f82c09cd42236695 SHA512 c7c0524a8095fd42b8e12bf2f4453a07d758822ba5a345353df8790e4c22faf250e400fa88a90aea828e80ef4a9992ead04635a5898a45b47245235fec7700ed -DIST perception_pcl-1.7.0.tar.gz 84987 BLAKE2B de309d013b24f3fb3ad2c1a5531cdee9860c4173cd885d7f294a30153ed1cb1613cd26035ec161879cb3804d75670a6d58096251f867cffaf9fd6eb74741ef40 SHA512 01eee6b2fec2b0be0737adaf8a1347922631edee8466c28815e1b183e9365c632f66544c8f85231a5c81262bcab3e24a3d6bff986262b1cb64dc2e3b27adef67 +DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e diff --git a/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild b/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild deleted file mode 100644 index 5a66b310e0f5..000000000000 --- a/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild +++ /dev/null @@ -1,24 +0,0 @@ -# Copyright 1999-2016 Gentoo Foundation -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/pcl_conversions" -KEYWORDS="~amd64 ~arm" - -inherit ros-catkin - -DESCRIPTION="Provides conversions from PCL data types and ROS message types" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - sci-libs/pcl:= - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-cpp/eigen:3 -" -DEPEND="${RDEPEND} - test? ( dev-cpp/gtest )" diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild deleted file mode 100644 index 79f1ab5d1922..000000000000 --- a/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 1999-2018 Gentoo Foundation -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" -ROS_SUBDIR=${PN} -KEYWORDS="~amd64 ~arm" - -inherit ros-catkin - -DESCRIPTION="Provides conversions from PCL data types and ROS message types" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - sci-libs/pcl:= - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-cpp/eigen:3 -" -DEPEND="${RDEPEND} - test? ( dev-cpp/gtest )" diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild deleted file mode 100644 index 79f1ab5d1922..000000000000 --- a/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 1999-2018 Gentoo Foundation -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" -ROS_SUBDIR=${PN} -KEYWORDS="~amd64 ~arm" - -inherit ros-catkin - -DESCRIPTION="Provides conversions from PCL data types and ROS message types" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - sci-libs/pcl:= - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-cpp/eigen:3 -" -DEPEND="${RDEPEND} - test? ( dev-cpp/gtest )" diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.7.0.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.7.1.ebuild index 84ff87429a51..2d924e7a3445 100644 --- a/dev-ros/pcl_conversions/pcl_conversions-1.7.0.ebuild +++ b/dev-ros/pcl_conversions/pcl_conversions-1.7.1.ebuild @@ -1,4 +1,4 @@ -# Copyright 1999-2019 Gentoo Authors +# Copyright 1999-2020 Gentoo Authors # Distributed under the terms of the GNU General Public License v2 EAPI=5 diff --git a/dev-ros/pcl_ros/Manifest b/dev-ros/pcl_ros/Manifest index 3748d2c0df52..111bcc238e1c 100644 --- a/dev-ros/pcl_ros/Manifest +++ b/dev-ros/pcl_ros/Manifest @@ -1,4 +1 @@ -DIST perception_pcl-1.5.4.tar.gz 73829 BLAKE2B cfc6e964691da42717d134e0b639ef4af4491074de171a84d081bf66c061a51b7c2da750ff539dd784a7a4c34cfdfe18d7d2e38c4e6d0370fbc441f9b3a6196d SHA512 e9da9b2f9b602b67bceec9b0adf515b500d77c9e5c2dbdc1f63bf5a91419bbf7f9f41d602646b8197dffcf7a077b63eb402a507dbc6bb96405a8f4d64576e36e -DIST perception_pcl-1.6.1.tar.gz 82552 BLAKE2B a442c9df193e38b6aca9e45ec3a469d6603bc2c909fc8c33ad612b2b6448956863555608cb0a0102593e2e71aa7f54ae88b677c2bfbde7df23b114ff4ca83c8f SHA512 c0b63833dd12f3eee5f5ec1e5d8f8bd9c001f1f1787572717a0845fa9a18862bb49a134638f9f0bde5587ac26ab8fd9e6534fcd5ed6b69842780a6fd3762fb5c -DIST perception_pcl-1.6.2.tar.gz 82896 BLAKE2B dc5d4e25b1841ffde720f7f0231570fcca687d32158da0bb9510f37b7cefbd71dd774bae31a0aa8fdfe7330c98721a7d0df7236bbc9452f9f82c09cd42236695 SHA512 c7c0524a8095fd42b8e12bf2f4453a07d758822ba5a345353df8790e4c22faf250e400fa88a90aea828e80ef4a9992ead04635a5898a45b47245235fec7700ed -DIST perception_pcl-1.7.0.tar.gz 84987 BLAKE2B de309d013b24f3fb3ad2c1a5531cdee9860c4173cd885d7f294a30153ed1cb1613cd26035ec161879cb3804d75670a6d58096251f867cffaf9fd6eb74741ef40 SHA512 01eee6b2fec2b0be0737adaf8a1347922631edee8466c28815e1b183e9365c632f66544c8f85231a5c81262bcab3e24a3d6bff986262b1cb64dc2e3b27adef67 +DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e diff --git a/dev-ros/pcl_ros/files/pcl111.patch b/dev-ros/pcl_ros/files/pcl111.patch new file mode 100644 index 000000000000..8f3433ffccaa --- /dev/null +++ b/dev-ros/pcl_ros/files/pcl111.patch @@ -0,0 +1,963 @@ +From e812d3cf1b67cc73841b41e690d53c74e5077a05 Mon Sep 17 00:00:00 2001 +From: Kunal Tyagi <tyagi.kunal@live.com> +Date: Wed, 6 May 2020 08:41:07 +0900 +Subject: [PATCH] Changes in preparation for PCL 1.11 (#273) + +* Deriving typedef from pcl type + +* Explicit boost shared_ptr for function parameters + +* Use boost::shared_ptr instead of PCL::Ptr + +* Implementing boost-std compatibility + +* Using the compatibility layer +--- + pcl_ros/include/pcl_ros/features/feature.h | 14 +- + pcl_ros/include/pcl_ros/filters/filter.h | 4 +- + pcl_ros/include/pcl_ros/pcl_nodelet.h | 9 +- + pcl_ros/include/pcl_ros/point_cloud.h | 121 ++++++++++++++++++ + .../extract_polygonal_prism_data.h | 4 +- + .../pcl_ros/segmentation/sac_segmentation.h | 12 +- + .../segmentation/segment_differences.h | 4 +- + pcl_ros/include/pcl_ros/surface/convex_hull.h | 4 +- + .../pcl_ros/surface/moving_least_squares.h | 4 +- + pcl_ros/src/pcl_ros/features/boundary.cpp | 10 +- + pcl_ros/src/pcl_ros/features/fpfh.cpp | 10 +- + pcl_ros/src/pcl_ros/features/fpfh_omp.cpp | 10 +- + .../pcl_ros/features/moment_invariants.cpp | 8 +- + pcl_ros/src/pcl_ros/features/normal_3d.cpp | 8 +- + .../src/pcl_ros/features/normal_3d_omp.cpp | 8 +- + .../src/pcl_ros/features/normal_3d_tbb.cpp | 4 +- + pcl_ros/src/pcl_ros/features/pfh.cpp | 10 +- + .../pcl_ros/features/principal_curvatures.cpp | 10 +- + pcl_ros/src/pcl_ros/features/shot.cpp | 10 +- + pcl_ros/src/pcl_ros/features/shot_omp.cpp | 10 +- + pcl_ros/src/pcl_ros/features/vfh.cpp | 10 +- + .../pcl_ros/segmentation/extract_clusters.cpp | 4 +- + .../extract_polygonal_prism_data.cpp | 6 +- + .../pcl_ros/segmentation/sac_segmentation.cpp | 6 +- + .../segmentation/segment_differences.cpp | 8 +- + pcl_ros/src/pcl_ros/surface/convex_hull.cpp | 8 +- + .../pcl_ros/surface/moving_least_squares.cpp | 10 +- + pcl_ros/tools/pointcloud_to_pcd.cpp | 2 +- + 28 files changed, 225 insertions(+), 103 deletions(-) + +diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h +index 26bcfe6b..098c20bc 100644 +--- a/pcl_ros/include/pcl_ros/features/feature.h ++++ b/pcl_ros/include/pcl_ros/features/feature.h +@@ -69,11 +69,11 @@ namespace pcl_ros + typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr; + + typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn; +- typedef PointCloudIn::Ptr PointCloudInPtr; +- typedef PointCloudIn::ConstPtr PointCloudInConstPtr; ++ typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr; ++ typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr; + +- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; +- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; ++ typedef pcl::IndicesPtr IndicesPtr; ++ typedef pcl::IndicesConstPtr IndicesConstPtr; + + /** \brief Empty constructor. */ + Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0), +@@ -152,7 +152,7 @@ namespace pcl_ros + indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp; + PointCloudIn cloud; + cloud.header.stamp = input->header.stamp; +- nf_pc_.add (cloud.makeShared ()); ++ nf_pc_.add (ros_ptr(cloud.makeShared ())); + nf_pi_.add (boost::make_shared<PointIndices> (indices)); + } + +@@ -190,8 +190,8 @@ namespace pcl_ros + typedef sensor_msgs::PointCloud2 PointCloud2; + + typedef pcl::PointCloud<pcl::Normal> PointCloudN; +- typedef PointCloudN::Ptr PointCloudNPtr; +- typedef PointCloudN::ConstPtr PointCloudNConstPtr; ++ typedef boost::shared_ptr<PointCloudN> PointCloudNPtr; ++ typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr; + + FeatureFromNormals () : normals_() {}; + +diff --git a/pcl_ros/include/pcl_ros/filters/filter.h b/pcl_ros/include/pcl_ros/filters/filter.h +index 94c1e883..b4e79538 100644 +--- a/pcl_ros/include/pcl_ros/filters/filter.h ++++ b/pcl_ros/include/pcl_ros/filters/filter.h +@@ -58,8 +58,8 @@ namespace pcl_ros + public: + typedef sensor_msgs::PointCloud2 PointCloud2; + +- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; +- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; ++ typedef pcl::IndicesPtr IndicesPtr; ++ typedef pcl::IndicesConstPtr IndicesConstPtr; + + Filter () {} + +diff --git a/pcl_ros/include/pcl_ros/pcl_nodelet.h b/pcl_ros/include/pcl_ros/pcl_nodelet.h +index f12e62d7..279d6730 100644 +--- a/pcl_ros/include/pcl_ros/pcl_nodelet.h ++++ b/pcl_ros/include/pcl_ros/pcl_nodelet.h +@@ -48,6 +48,7 @@ + // PCL includes + #include <pcl_msgs/PointIndices.h> + #include <pcl_msgs/ModelCoefficients.h> ++#include <pcl/pcl_base.h> + #include <pcl/point_types.h> + #include <pcl_conversions/pcl_conversions.h> + #include "pcl_ros/point_cloud.h" +@@ -75,8 +76,8 @@ namespace pcl_ros + typedef sensor_msgs::PointCloud2 PointCloud2; + + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + typedef pcl_msgs::PointIndices PointIndices; + typedef PointIndices::Ptr PointIndicesPtr; +@@ -86,8 +87,8 @@ namespace pcl_ros + typedef ModelCoefficients::Ptr ModelCoefficientsPtr; + typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr; + +- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; +- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; ++ typedef pcl::IndicesPtr IndicesPtr; ++ typedef pcl::IndicesConstPtr IndicesConstPtr; + + /** \brief Empty constructor. */ + PCLNodelet () : use_indices_ (false), latched_indices_ (false), +diff --git a/pcl_ros/include/pcl_ros/point_cloud.h b/pcl_ros/include/pcl_ros/point_cloud.h +index bbf30ad1..93df7365 100644 +--- a/pcl_ros/include/pcl_ros/point_cloud.h ++++ b/pcl_ros/include/pcl_ros/point_cloud.h +@@ -270,4 +270,125 @@ namespace ros + + } // namespace ros + ++// test if testing machinery can be implemented ++#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr) ++#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1 ++#else ++#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0 ++#endif ++ ++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED ++#include <type_traits> // for std::is_same ++#include <memory> // for std::shared_ptr ++ ++#include <pcl/pcl_config.h> ++#if PCL_VERSION_COMPARE(>=, 1, 11, 0) ++#include <pcl/memory.h> ++#elif PCL_VERSION_COMPARE(>=, 1, 10, 0) ++#include <pcl/make_shared.h> ++#endif ++#endif ++ ++namespace pcl ++{ ++ namespace detail ++ { ++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED ++#if PCL_VERSION_COMPARE(>=, 1, 10, 0) ++ template <class T> ++ constexpr static bool pcl_uses_boost = std::is_same<boost::shared_ptr<T>, ++ pcl::shared_ptr<T>>::value; ++#else ++ template <class T> ++ constexpr static bool pcl_uses_boost = true; ++#endif ++ ++ template<class SharedPointer> struct Holder ++ { ++ SharedPointer p; ++ ++ Holder(const SharedPointer &p) : p(p) {} ++ Holder(const Holder &other) : p(other.p) {} ++ Holder(Holder &&other) : p(std::move(other.p)) {} ++ ++ void operator () (...) { p.reset(); } ++ }; ++ ++ template<class T> ++ inline std::shared_ptr<T> to_std_ptr(const boost::shared_ptr<T> &p) ++ { ++ typedef Holder<std::shared_ptr<T>> H; ++ if(H *h = boost::get_deleter<H>(p)) ++ { ++ return h->p; ++ } ++ else ++ { ++ return std::shared_ptr<T>(p.get(), Holder<boost::shared_ptr<T>>(p)); ++ } ++ } ++ ++ template<class T> ++ inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> &p) ++ { ++ typedef Holder<boost::shared_ptr<T>> H; ++ if(H * h = std::get_deleter<H>(p)) ++ { ++ return h->p; ++ } ++ else ++ { ++ return boost::shared_ptr<T>(p.get(), Holder<std::shared_ptr<T>>(p)); ++ } ++ } ++#endif ++ } // namespace pcl::detail ++ ++// add functions to convert to smart pointer used by ROS ++ template <class T> ++ inline boost::shared_ptr<T> ros_ptr(const boost::shared_ptr<T> &p) ++ { ++ return p; ++ } ++ ++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED ++ template <class T> ++ inline boost::shared_ptr<T> ros_ptr(const std::shared_ptr<T> &p) ++ { ++ return detail::to_boost_ptr(p); ++ } ++ ++// add functions to convert to smart pointer used by PCL, based on PCL's own pointer ++ template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type> ++ inline std::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p) ++ { ++ return p; ++ } ++ ++ template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type> ++ inline std::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) ++ { ++ return detail::to_std_ptr(p); ++ } ++ ++ template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type> ++ inline boost::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p) ++ { ++ return detail::to_boost_ptr(p); ++ } ++ ++ template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type> ++ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) ++ { ++ return p; ++ } ++#else ++ template <class T> ++ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) ++ { ++ return p; ++ } ++#endif ++} // namespace pcl ++ + #endif +diff --git a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h +index 7134f905..13b85316 100644 +--- a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h ++++ b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h +@@ -64,8 +64,8 @@ namespace pcl_ros + class ExtractPolygonalPrismData : public PCLNodelet + { + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + protected: + /** \brief The output PointIndices publisher. */ +diff --git a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h +index af2c9126..9243e363 100644 +--- a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h ++++ b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h +@@ -61,8 +61,8 @@ namespace pcl_ros + class SACSegmentation : public PCLNodelet + { + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + public: + /** \brief Constructor. */ +@@ -181,12 +181,12 @@ namespace pcl_ros + class SACSegmentationFromNormals: public SACSegmentation + { + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + typedef pcl::PointCloud<pcl::Normal> PointCloudN; +- typedef PointCloudN::Ptr PointCloudNPtr; +- typedef PointCloudN::ConstPtr PointCloudNConstPtr; ++ typedef boost::shared_ptr<PointCloudN> PointCloudNPtr; ++ typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr; + + public: + /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different. +diff --git a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h +index 4914bc86..da767ab3 100644 +--- a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h ++++ b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h +@@ -60,8 +60,8 @@ namespace pcl_ros + class SegmentDifferences : public PCLNodelet + { + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + public: + /** \brief Empty constructor. */ +diff --git a/pcl_ros/include/pcl_ros/surface/convex_hull.h b/pcl_ros/include/pcl_ros/surface/convex_hull.h +index e419c0f8..54a1f367 100644 +--- a/pcl_ros/include/pcl_ros/surface/convex_hull.h ++++ b/pcl_ros/include/pcl_ros/surface/convex_hull.h +@@ -53,8 +53,8 @@ namespace pcl_ros + class ConvexHull2D : public PCLNodelet + { + typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; +- typedef PointCloud::Ptr PointCloudPtr; +- typedef PointCloud::ConstPtr PointCloudConstPtr; ++ typedef boost::shared_ptr<PointCloud> PointCloudPtr; ++ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; + + private: + /** \brief Nodelet initialization routine. */ +diff --git a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h +index b909edf8..e90f562a 100644 +--- a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h ++++ b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h +@@ -62,8 +62,8 @@ namespace pcl_ros + typedef pcl::PointNormal NormalOut; + + typedef pcl::PointCloud<PointIn> PointCloudIn; +- typedef PointCloudIn::Ptr PointCloudInPtr; +- typedef PointCloudIn::ConstPtr PointCloudInConstPtr; ++ typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr; ++ typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr; + typedef pcl::PointCloud<NormalOut> NormalCloudOut; + + typedef pcl::KdTree<PointIn> KdTree; +diff --git a/pcl_ros/src/pcl_ros/features/boundary.cpp b/pcl_ros/src/pcl_ros/features/boundary.cpp +index 9334641a..26ee07c1 100644 +--- a/pcl_ros/src/pcl_ros/features/boundary.cpp ++++ b/pcl_ros/src/pcl_ros/features/boundary.cpp +@@ -43,7 +43,7 @@ pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,17 +57,17 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); + + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::BoundaryEstimation BoundaryEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/fpfh.cpp b/pcl_ros/src/pcl_ros/features/fpfh.cpp +index 3f698aad..53be549c 100644 +--- a/pcl_ros/src/pcl_ros/features/fpfh.cpp ++++ b/pcl_ros/src/pcl_ros/features/fpfh.cpp +@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::FPFHEstimation FPFHEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp +index 58dd911f..e4adcabb 100644 +--- a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp ++++ b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp +@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP; +diff --git a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp +index d0ec3441..a6e2249a 100644 +--- a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp ++++ b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp +@@ -43,7 +43,7 @@ pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &c + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -56,9 +56,9 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); ++ impl_.setSearchSurface (pcl_ptr(surface)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -66,7 +66,7 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/normal_3d.cpp b/pcl_ros/src/pcl_ros/features/normal_3d.cpp +index 9e700f78..042186a9 100644 +--- a/pcl_ros/src/pcl_ros/features/normal_3d.cpp ++++ b/pcl_ros/src/pcl_ros/features/normal_3d.cpp +@@ -43,7 +43,7 @@ pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -56,9 +56,9 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); ++ impl_.setSearchSurface (pcl_ptr(surface)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -66,7 +66,7 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::NormalEstimation NormalEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp +index a741c052..3e92d2f2 100644 +--- a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp ++++ b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp +@@ -43,7 +43,7 @@ pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -56,9 +56,9 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); ++ impl_.setSearchSurface (pcl_ptr(surface)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -66,7 +66,7 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP; +diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp +index a4a8581e..680a4a02 100644 +--- a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp ++++ b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp +@@ -45,7 +45,7 @@ pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloud output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -71,7 +71,7 @@ pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB; +diff --git a/pcl_ros/src/pcl_ros/features/pfh.cpp b/pcl_ros/src/pcl_ros/features/pfh.cpp +index 38b4d19c..dd8409e2 100644 +--- a/pcl_ros/src/pcl_ros/features/pfh.cpp ++++ b/pcl_ros/src/pcl_ros/features/pfh.cpp +@@ -43,7 +43,7 @@ pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,10 +57,10 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -68,7 +68,7 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::PFHEstimation PFHEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp +index 113124dc..501d686e 100644 +--- a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp ++++ b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp +@@ -43,7 +43,7 @@ pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,10 +57,10 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -68,7 +68,7 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/shot.cpp b/pcl_ros/src/pcl_ros/features/shot.cpp +index d051ab0f..ed6ba44b 100644 +--- a/pcl_ros/src/pcl_ros/features/shot.cpp ++++ b/pcl_ros/src/pcl_ros/features/shot.cpp +@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::SHOTEstimation SHOTEstimation; +diff --git a/pcl_ros/src/pcl_ros/features/shot_omp.cpp b/pcl_ros/src/pcl_ros/features/shot_omp.cpp +index 1ac1b065..4563f123 100644 +--- a/pcl_ros/src/pcl_ros/features/shot_omp.cpp ++++ b/pcl_ros/src/pcl_ros/features/shot_omp.cpp +@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP; +diff --git a/pcl_ros/src/pcl_ros/features/vfh.cpp b/pcl_ros/src/pcl_ros/features/vfh.cpp +index 9d0fe361..ece448fd 100644 +--- a/pcl_ros/src/pcl_ros/features/vfh.cpp ++++ b/pcl_ros/src/pcl_ros/features/vfh.cpp +@@ -43,7 +43,7 @@ pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) + { + PointCloudOut output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + void +@@ -57,10 +57,10 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + impl_.setRadiusSearch (search_radius_); + + // Set the inputs +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices); +- impl_.setSearchSurface (surface); +- impl_.setInputNormals (normals); ++ impl_.setSearchSurface (pcl_ptr(surface)); ++ impl_.setInputNormals (pcl_ptr(normals)); + // Estimate the feature + PointCloudOut output; + impl_.compute (output); +@@ -68,7 +68,7 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud, + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::VFHEstimation VFHEstimation; +diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp +index 17adec46..5599b408 100644 +--- a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp ++++ b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp +@@ -202,7 +202,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback ( + if (indices) + indices_ptr.reset (new std::vector<int> (indices->indices)); + +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices_ptr); + + std::vector<pcl::PointIndices> clusters; +@@ -239,7 +239,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback ( + header.stamp += ros::Duration (i * 0.001); + toPCL(header, output.header); + // Publish a Boost shared ptr const data +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s", + i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ()); + } +diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp +index 0185bfbe..ff823b19 100644 +--- a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp ++++ b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp +@@ -189,16 +189,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback ( + pub_output_.publish (inliers); + return; + } +- impl_.setInputPlanarHull (planar_hull.makeShared ()); ++ impl_.setInputPlanarHull (pcl_ptr(planar_hull.makeShared ())); + } + else +- impl_.setInputPlanarHull (hull); ++ impl_.setInputPlanarHull (pcl_ptr(hull)); + + IndicesPtr indices_ptr; + if (indices && !indices->header.frame_id.empty ()) + indices_ptr.reset (new std::vector<int> (indices->indices)); + +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices_ptr); + + // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL) +diff --git a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp +index b73dd3fd..bc7b97e7 100644 +--- a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp ++++ b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp +@@ -324,7 +324,7 @@ pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &clou + if (indices && !indices->header.frame_id.empty ()) + indices_ptr.reset (new std::vector<int> (indices->indices)); + +- impl_.setInputCloud (cloud_tf); ++ impl_.setInputCloud (pcl_ptr(cloud_tf)); + impl_.setIndices (indices_ptr); + + // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL) +@@ -651,8 +651,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback ( + return; + } + +- impl_.setInputCloud (cloud); +- impl_.setInputNormals (cloud_normals); ++ impl_.setInputCloud (pcl_ptr(cloud)); ++ impl_.setInputNormals (pcl_ptr(cloud_normals)); + + IndicesPtr indices_ptr; + if (indices && !indices->header.frame_id.empty ()) +diff --git a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp +index 4c934152..e3979549 100644 +--- a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp ++++ b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp +@@ -115,7 +115,7 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl + NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); + PointCloud output; + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + return; + } + +@@ -126,13 +126,13 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl + cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (), + cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ()); + +- impl_.setInputCloud (cloud); +- impl_.setTargetCloud (cloud_target); ++ impl_.setInputCloud (pcl_ptr(cloud)); ++ impl_.setTargetCloud (pcl_ptr(cloud_target)); + + PointCloud output; + impl_.segment (output); + +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (), + output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ()); + } +diff --git a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp +index 4b7eeaf5..75903889 100644 +--- a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp ++++ b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp +@@ -121,7 +121,7 @@ void + NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); + // Publish an empty message + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + return; + } + // If indices are given, check if they are valid +@@ -130,7 +130,7 @@ void + NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); + // Publish an empty message + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + return; + } + +@@ -150,7 +150,7 @@ void + if (indices) + indices_ptr.reset (new std::vector<int> (indices->indices)); + +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + impl_.setIndices (indices_ptr); + + // Estimate the feature +@@ -194,7 +194,7 @@ void + } + // Publish a Boost shared ptr const data + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + } + + typedef pcl_ros::ConvexHull2D ConvexHull2D; +diff --git a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp +index b9a01e64..99e5d481 100644 +--- a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp ++++ b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp +@@ -141,7 +141,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr + { + NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + return; + } + // If indices are given, check if they are valid +@@ -149,7 +149,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr + { + NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + return; + } + +@@ -166,7 +166,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr + /// + + // Reset the indices and surface pointers +- impl_.setInputCloud (cloud); ++ impl_.setInputCloud (pcl_ptr(cloud)); + + IndicesPtr indices_ptr; + if (indices) +@@ -182,9 +182,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr + // Publish a Boost shared ptr const data + // Enforce that the TF frame and the timestamp are copied + output.header = cloud->header; +- pub_output_.publish (output.makeShared ()); ++ pub_output_.publish (ros_ptr(output.makeShared ())); + normals->header = cloud->header; +- pub_normals_.publish (normals); ++ pub_normals_.publish (ros_ptr(normals)); + } + + ////////////////////////////////////////////////////////////////////////////////////////////// +diff --git a/pcl_ros/tools/pointcloud_to_pcd.cpp b/pcl_ros/tools/pointcloud_to_pcd.cpp +index 484113da..fb149b46 100644 +--- a/pcl_ros/tools/pointcloud_to_pcd.cpp ++++ b/pcl_ros/tools/pointcloud_to_pcd.cpp +@@ -78,7 +78,7 @@ class PointCloudToPCD + //////////////////////////////////////////////////////////////////////////////// + // Callback + void +- cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud) ++ cloud_cb (const boost::shared_ptr<const pcl::PCLPointCloud2>& cloud) + { + if ((cloud->width * cloud->height) == 0) + return; diff --git a/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild b/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild deleted file mode 100644 index 3cc2a20fbcf2..000000000000 --- a/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild +++ /dev/null @@ -1,39 +0,0 @@ -# Copyright 1999-2018 Gentoo Foundation -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" -KEYWORDS="~amd64 ~arm" -PYTHON_COMPAT=( python2_7 ) -ROS_SUBDIR=${PN} - -inherit ros-catkin - -DESCRIPTION="PCL (Point Cloud Library) ROS interface stack" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - dev-ros/rosbag - dev-ros/rosconsole - dev-ros/roslib - dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}] - >=dev-cpp/eigen-3.2.5:3 - dev-ros/pluginlib - dev-libs/console_bridge:= - dev-ros/tf - dev-ros/tf2 - dev-ros/tf2_ros - dev-ros/tf2_eigen - dev-ros/nodelet - dev-ros/nodelet_topic_tools - sci-libs/pcl:=[qhull] - >=dev-ros/pcl_conversions-0.2.1-r1 - dev-libs/boost:=[threads] - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] -" -DEPEND="${RDEPEND}" diff --git a/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild b/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild deleted file mode 100644 index 8a6af2083788..000000000000 --- a/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild +++ /dev/null @@ -1,40 +0,0 @@ -# Copyright 1999-2018 Gentoo Foundation -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" -KEYWORDS="~amd64 ~arm" -PYTHON_COMPAT=( python2_7 ) -ROS_SUBDIR=${PN} - -inherit ros-catkin - -DESCRIPTION="PCL (Point Cloud Library) ROS interface stack" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - dev-ros/rosbag - dev-ros/rosconsole - dev-ros/roslib - dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}] - dev-ros/message_filters - >=dev-cpp/eigen-3.2.5:3 - dev-ros/pluginlib - dev-libs/console_bridge:= - dev-ros/tf - dev-ros/tf2 - dev-ros/tf2_ros - dev-ros/tf2_eigen - dev-ros/nodelet - dev-ros/nodelet_topic_tools - sci-libs/pcl:=[qhull] - >=dev-ros/pcl_conversions-0.2.1-r1 - dev-libs/boost:=[threads] - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] -" -DEPEND="${RDEPEND}" diff --git a/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild b/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild deleted file mode 100644 index 14ce04f55152..000000000000 --- a/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild +++ /dev/null @@ -1,40 +0,0 @@ -# Copyright 1999-2019 Gentoo Authors -# Distributed under the terms of the GNU General Public License v2 - -EAPI=5 -ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" -KEYWORDS="~amd64 ~arm" -PYTHON_COMPAT=( python2_7 ) -ROS_SUBDIR=${PN} - -inherit ros-catkin - -DESCRIPTION="PCL (Point Cloud Library) ROS interface stack" -LICENSE="BSD" -SLOT="0" -IUSE="" - -RDEPEND=" - dev-ros/roscpp - dev-ros/rosbag - dev-ros/rosconsole - dev-ros/roslib - dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}] - dev-ros/message_filters - >=dev-cpp/eigen-3.2.5:3 - dev-ros/pluginlib - dev-libs/console_bridge:= - dev-ros/tf - dev-ros/tf2 - dev-ros/tf2_ros - dev-ros/tf2_eigen - dev-ros/nodelet - dev-ros/nodelet_topic_tools - sci-libs/pcl:=[qhull] - >=dev-ros/pcl_conversions-0.2.1-r1 - dev-libs/boost:=[threads] - dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] - dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] -" -DEPEND="${RDEPEND}" diff --git a/dev-ros/pcl_ros/pcl_ros-1.6.1.ebuild b/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild index 8a6af2083788..0ffd456d66af 100644 --- a/dev-ros/pcl_ros/pcl_ros-1.6.1.ebuild +++ b/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild @@ -1,10 +1,9 @@ -# Copyright 1999-2018 Gentoo Foundation +# Copyright 1999-2020 Gentoo Authors # Distributed under the terms of the GNU General Public License v2 EAPI=5 ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" KEYWORDS="~amd64 ~arm" -PYTHON_COMPAT=( python2_7 ) ROS_SUBDIR=${PN} inherit ros-catkin @@ -38,3 +37,4 @@ RDEPEND=" dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] " DEPEND="${RDEPEND}" +PATCHES=( "${FILESDIR}/pcl111.patch" ) diff --git a/dev-ros/pcl_ros/pcl_ros-9999.ebuild b/dev-ros/pcl_ros/pcl_ros-9999.ebuild index 8a6af2083788..2101a7b6837e 100644 --- a/dev-ros/pcl_ros/pcl_ros-9999.ebuild +++ b/dev-ros/pcl_ros/pcl_ros-9999.ebuild @@ -1,10 +1,9 @@ -# Copyright 1999-2018 Gentoo Foundation +# Copyright 1999-2020 Gentoo Authors # Distributed under the terms of the GNU General Public License v2 EAPI=5 ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" KEYWORDS="~amd64 ~arm" -PYTHON_COMPAT=( python2_7 ) ROS_SUBDIR=${PN} inherit ros-catkin diff --git a/eclass/ros-catkin.eclass b/eclass/ros-catkin.eclass index ee5def361146..52fdc1df0dd3 100644 --- a/eclass/ros-catkin.eclass +++ b/eclass/ros-catkin.eclass @@ -158,7 +158,7 @@ ros-catkin_src_prepare() { # Most packages require C++11 these days. Do it here, in src_prepare so that # ebuilds can override it in src_configure. - append-cxxflags '-std=c++11' + append-cxxflags '-std=c++14' } # @FUNCTION: ros-catkin_python_setup diff --git a/ros-meta/perception_pcl/Manifest b/ros-meta/perception_pcl/Manifest index 3748d2c0df52..9b90001f8c46 100644 --- a/ros-meta/perception_pcl/Manifest +++ b/ros-meta/perception_pcl/Manifest @@ -2,3 +2,4 @@ DIST perception_pcl-1.5.4.tar.gz 73829 BLAKE2B cfc6e964691da42717d134e0b639ef4af DIST perception_pcl-1.6.1.tar.gz 82552 BLAKE2B a442c9df193e38b6aca9e45ec3a469d6603bc2c909fc8c33ad612b2b6448956863555608cb0a0102593e2e71aa7f54ae88b677c2bfbde7df23b114ff4ca83c8f SHA512 c0b63833dd12f3eee5f5ec1e5d8f8bd9c001f1f1787572717a0845fa9a18862bb49a134638f9f0bde5587ac26ab8fd9e6534fcd5ed6b69842780a6fd3762fb5c DIST perception_pcl-1.6.2.tar.gz 82896 BLAKE2B dc5d4e25b1841ffde720f7f0231570fcca687d32158da0bb9510f37b7cefbd71dd774bae31a0aa8fdfe7330c98721a7d0df7236bbc9452f9f82c09cd42236695 SHA512 c7c0524a8095fd42b8e12bf2f4453a07d758822ba5a345353df8790e4c22faf250e400fa88a90aea828e80ef4a9992ead04635a5898a45b47245235fec7700ed DIST perception_pcl-1.7.0.tar.gz 84987 BLAKE2B de309d013b24f3fb3ad2c1a5531cdee9860c4173cd885d7f294a30153ed1cb1613cd26035ec161879cb3804d75670a6d58096251f867cffaf9fd6eb74741ef40 SHA512 01eee6b2fec2b0be0737adaf8a1347922631edee8466c28815e1b183e9365c632f66544c8f85231a5c81262bcab3e24a3d6bff986262b1cb64dc2e3b27adef67 +DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e diff --git a/ros-meta/perception_pcl/perception_pcl-1.7.1.ebuild b/ros-meta/perception_pcl/perception_pcl-1.7.1.ebuild new file mode 100644 index 000000000000..10a4ee828f25 --- /dev/null +++ b/ros-meta/perception_pcl/perception_pcl-1.7.1.ebuild @@ -0,0 +1,20 @@ +# Copyright 1999-2020 Gentoo Authors +# Distributed under the terms of the GNU General Public License v2 + +EAPI=5 +ROS_REPO_URI="https://github.com/ros-perception/perception_pcl" +KEYWORDS="~amd64 ~arm" +ROS_SUBDIR=${PN} + +inherit ros-catkin + +DESCRIPTION="PCL (Point Cloud Library) ROS interface stack" +LICENSE="BSD" +SLOT="0" +IUSE="" + +RDEPEND=" + dev-ros/pcl_conversions + dev-ros/pcl_ros +" +DEPEND="${RDEPEND}" diff --git a/sci-libs/rtabmap/Manifest b/sci-libs/rtabmap/Manifest index 58164b23bff5..e9ed362ac601 100644 --- a/sci-libs/rtabmap/Manifest +++ b/sci-libs/rtabmap/Manifest @@ -1 +1,2 @@ DIST rtabmap-0.19.3.tar.gz 19818629 BLAKE2B f732a02db6ef8434b1457234211a128e3050236590e0f6a1e08e36bbb5899b9d3de9409d7d7329f346d29874d440bd86835c1501fb638e3802e2663907e7b04d SHA512 bda72596911b1c35d757322c7e5acd7e43ec1f4e984bfb0599cfb39597bee79e470d1bc11b492f244f39c35812ae570d023848cdcbd011eeb78e347727045509 +DIST rtabmap-0.19.7.tar.gz 19936131 BLAKE2B ec640bb8dddb2acac9eb70e828edc88e76d90b287dc5be0c99f0943dac3df448b0a06bde79b1288e0b84a1b2a022e5713346f87e68f11a6f25be486e3122b62a SHA512 d02fec1db427092867b32d464e4b2450a729923260088b75dd0a813fc6d3e2539b3694035cddffc33b8fcd5a56a2a5c3dedb7c7a998b72f2094e1916f2a99084 diff --git a/sci-libs/rtabmap/files/boost173.patch b/sci-libs/rtabmap/files/boost173.patch new file mode 100644 index 000000000000..4549e9bc8426 --- /dev/null +++ b/sci-libs/rtabmap/files/boost173.patch @@ -0,0 +1,13 @@ +Index: rtabmap-0.19.7/corelib/src/camera/CameraOpenni.cpp +=================================================================== +--- rtabmap-0.19.7.orig/corelib/src/camera/CameraOpenni.cpp ++++ rtabmap-0.19.7/corelib/src/camera/CameraOpenni.cpp +@@ -126,7 +126,7 @@ bool CameraOpenni::init(const std::strin + boost::function<void (
+ const boost::shared_ptr<openni_wrapper::Image>&,
+ const boost::shared_ptr<openni_wrapper::DepthImage>&,
+- float)> f = boost::bind (&CameraOpenni::image_cb, this, _1, _2, _3);
++ float)> f = boost::bind (&CameraOpenni::image_cb, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3);
+ connection_ = interface_->registerCallback (f);
+
+ interface_->start ();
diff --git a/sci-libs/rtabmap/files/ocv.patch b/sci-libs/rtabmap/files/ocv.patch new file mode 100644 index 000000000000..0802b7899a26 --- /dev/null +++ b/sci-libs/rtabmap/files/ocv.patch @@ -0,0 +1,24 @@ +From 7041d5fd34fb34851ad3287891aa5c383d73b5c2 Mon Sep 17 00:00:00 2001 +From: matlabbe <matlabbe@gmail.com> +Date: Sun, 3 May 2020 22:59:35 -0400 +Subject: [PATCH] Fixed #541 + +--- + corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h | 3 --- + 1 file changed, 3 deletions(-) + +Index: rtabmap-0.19.7/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h +=================================================================== +--- rtabmap-0.19.7.orig/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h ++++ rtabmap-0.19.7/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h +@@ -37,10 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI + #include <opencv2/calib3d/calib3d_c.h> + + #if CV_MAJOR_VERSION >= 4 +- +-#if CV_MINOR_VERSION >= 3 + #include <opencv2/core/core_c.h> +-#endif + + // Opencv4 doesn't expose those functions below anymore, we should recopy all of them! + int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian CV_DEFAULT(0)) diff --git a/sci-libs/rtabmap/files/pcl111.patch b/sci-libs/rtabmap/files/pcl111.patch new file mode 100644 index 000000000000..3ff5d6be452d --- /dev/null +++ b/sci-libs/rtabmap/files/pcl111.patch @@ -0,0 +1,49 @@ +Index: rtabmap-0.19.7/corelib/src/Graph.cpp +=================================================================== +--- rtabmap-0.19.7.orig/corelib/src/Graph.cpp ++++ rtabmap-0.19.7/corelib/src/Graph.cpp +@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI + #include <pcl/search/kdtree.h> + #include <pcl/common/eigen.h> + #include <pcl/common/common.h> ++#include <pcl/common/point_tests.h> + #include <set> + #include <queue> + #include <fstream> +Index: rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp +=================================================================== +--- rtabmap-0.19.7.orig/corelib/src/clams/frame_projector.cpp ++++ rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp +@@ -33,6 +33,7 @@ RTAB-Map integration: Mathieu Labbe + #include <rtabmap/core/util3d.h> + #include <opencv2/highgui/highgui.hpp> + #include <opencv2/imgproc/imgproc.hpp> ++#include <pcl/common/point_tests.h> + + using namespace std; + using namespace Eigen; +Index: rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp +=================================================================== +--- rtabmap-0.19.7.orig/corelib/src/util3d_correspondences.cpp ++++ rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp +@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI + #include <rtabmap/core/EpipolarGeometry.h> + #include <opencv2/calib3d/calib3d.hpp> + #include <pcl/search/kdtree.h> ++#include <pcl/common/point_tests.h> + + namespace rtabmap + { +Index: rtabmap-0.19.7/corelib/src/util3d_features.cpp +=================================================================== +--- rtabmap-0.19.7.orig/corelib/src/util3d_features.cpp ++++ rtabmap-0.19.7/corelib/src/util3d_features.cpp +@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI + + #include <opencv2/video/tracking.hpp> + ++#include <pcl/common/point_tests.h> ++ + namespace rtabmap + { + diff --git a/sci-libs/rtabmap/rtabmap-0.19.7.ebuild b/sci-libs/rtabmap/rtabmap-0.19.7.ebuild new file mode 100644 index 000000000000..4640d13e9cf0 --- /dev/null +++ b/sci-libs/rtabmap/rtabmap-0.19.7.ebuild @@ -0,0 +1,69 @@ +# Copyright 1999-2020 Gentoo Authors +# Distributed under the terms of the GNU General Public License v2 + +EAPI=7 + +SCM="" +if [ "${PV#9999}" != "${PV}" ] ; then + SCM="git-r3" + EGIT_REPO_URI="https://github.com/introlab/rtabmap" +fi + +inherit ${SCM} cmake-utils multilib + +if [ "${PV#9999}" != "${PV}" ] ; then + KEYWORDS="" + SRC_URI="" +else + KEYWORDS="~amd64" + SRC_URI="https://github.com/introlab/rtabmap/archive/${PV}.tar.gz -> ${P}.tar.gz" + S="${WORKDIR}/${P}" +fi + +DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)" +HOMEPAGE="http://introlab.github.io/rtabmap/" +LICENSE="BSD" +SLOT="0" +IUSE="examples ieee1394 openni2 qt5" + +RDEPEND=" + media-libs/opencv:=[qt5(-)?] + sci-libs/pcl:=[openni,vtk,qt5(-)?] + sci-libs/vtk:=[qt5(-)?] + sys-libs/zlib + sci-libs/octomap:= + dev-libs/boost:= + ieee1394? ( media-libs/libdc1394 ) + openni2? ( dev-libs/OpenNI2 ) + qt5? ( + dev-qt/qtwidgets:5 + dev-qt/qtcore:5 + dev-qt/qtgui:5 + dev-qt/qtsvg:5 + ) +" +DEPEND="${RDEPEND}" +BDEPEND="virtual/pkgconfig" +PATCHES=( + "${FILESDIR}/pcl111.patch" + "${FILESDIR}/boost173.patch" + "${FILESDIR}/ocv.patch" +) + +src_configure() { + local mycmakeargs=( + "-DWITH_QT=$(usex qt5 ON OFF)" + "-DWITH_DC1394=$(usex ieee1394 ON OFF)" + "-DWITH_OPENNI2=$(usex openni2 ON OFF)" + "-DBUILD_EXAMPLES=$(usex examples ON OFF)" + ) + cmake-utils_src_configure +} + +src_install() { + cmake-utils_src_install + # Needed since we force ros crawling to be done only in + # /usr/share/ros_packages/ + insinto /usr/share/ros_packages/${PN} + doins "${ED}/usr/share/${PN}/package.xml" +} |