diff options
author | V3n3RiX <venerix@redcorelinux.org> | 2020-05-30 11:44:06 +0100 |
---|---|---|
committer | V3n3RiX <venerix@redcorelinux.org> | 2020-05-30 11:44:06 +0100 |
commit | f516638b7fe9592837389826a6152a7e1b251c54 (patch) | |
tree | 8bfecb640b7b6403d7a3d662d923eed630033da7 /dev-ros/pcl_ros | |
parent | 1a61119f9f7b057830e2ce0563f913ec86f282ad (diff) |
gentoo resync : 30.05.2020
Diffstat (limited to 'dev-ros/pcl_ros')
-rw-r--r-- | dev-ros/pcl_ros/Manifest | 13 | ||||
-rw-r--r-- | dev-ros/pcl_ros/files/pcl111.patch | 963 | ||||
-rw-r--r-- | dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild | 39 | ||||
-rw-r--r-- | dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild | 40 | ||||
-rw-r--r-- | dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild | 40 | ||||
-rw-r--r-- | dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild (renamed from dev-ros/pcl_ros/pcl_ros-1.6.1.ebuild) | 4 | ||||
-rw-r--r-- | dev-ros/pcl_ros/pcl_ros-9999.ebuild | 3 |
7 files changed, 970 insertions, 132 deletions
diff --git a/dev-ros/pcl_ros/Manifest b/dev-ros/pcl_ros/Manifest index 0f70ea378fe3..99bc2088146a 100644 --- a/dev-ros/pcl_ros/Manifest +++ b/dev-ros/pcl_ros/Manifest @@ -1,10 +1,5 @@ -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 -EBUILD pcl_ros-1.5.4.ebuild 921 BLAKE2B 7dcd0c3e58fe62dfecac6163907a1034a8a1e3e61660012be8b68ce12ab2177d198f8f737cd73a6b28caf8f6d7c6e0818b8b70d0e0c407e64165358b5027efcf SHA512 ba2210fc75a197d53ac011edae3a5e76e103111bfa1e096498112361797e5d0f3d493fefa9c41fc56c2c317eba3b2896f095212c72d7fa92e5b76f27869b3fe1 -EBUILD pcl_ros-1.6.1.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6 -EBUILD pcl_ros-1.6.2.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6 -EBUILD pcl_ros-1.7.0.ebuild 943 BLAKE2B a111ef4d5cb2f237cced0c6d9c245c2b6e6a65d5c221e15006d163735b8a35bcd8e7ee8840a40a0b76b05e69e080d3915002273bca18a18095fff4293c40d221 SHA512 a78e9444b831417f454feb9e064c2f63d21b92b099943f852a8781f74216fc9b8b42c092b5d39ae727b9ea11ae8cd7d847f532219cb791be14a1314da7374d25 -EBUILD pcl_ros-9999.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6 +AUX pcl111.patch 39097 BLAKE2B c9612c7a10f9bf92d4aa3b1d053035f13c682ecdd3cabfdb23cc0152a31fa7b1da0f9d0e18a22242a76ab7e8601b0fb3c52d300baf3839e84c6b127c58daf39b SHA512 fe8330ca9c1991a274310918a0f575cbb5b83e48969cb8cb285032f7a5e8d571c9dae131837aeaf1edbec18baaedf27ece82e428d4d960d73f5b0aa86e5861f3 +DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e +EBUILD pcl_ros-1.7.1.ebuild 954 BLAKE2B baa8161e13c24fb884917b21f9d6d5cc80f69d345bdb6903a1775f7bc4f0eb49d1675381ff86eb9d5595005496d829f273f09f1422839958e6ad4c5963277c86 SHA512 ff793a450e3b1e9891a433291b9ca2957a18e17f63bc7a9d9b0ec818a8af039cc902148d6cb172d1f7450673ebbd72dabd03533e7be134b2abb4cd22cee6eccc +EBUILD pcl_ros-9999.ebuild 915 BLAKE2B e15107eeae1fa3524c5f217a4bb58d07e90ff54a04557081d3792dfdd98d8f508175b43b11ef17da4f59946c64c627b103cdebaad1b79b4bb8f32be2867015c7 SHA512 8e3fa2c8ddb14638e2995b2bc857fb4dc8ffa0342f45be94ce59fc1887fed001fc1ce89792d4094a07a1553a43d73d38cb99e65c27d27cdb9fa4e91b2fd0700c MISC metadata.xml 343 BLAKE2B c3702e4ed6c355b81fed82f2cf5bcc1ad37082d134130f55ff5a7b4ce3eba79e758ac6dae129b0e76dc9f0171caa52d04a4b428a286458a4a8052a054c6b5d0d SHA512 43909c26691d29a183729bab2d2e9a9639d779a5b23816705064083d11275e687097e8da8c33d952312a1eaeed42a24d4a0bfd74a9ccae08a199acec0ca4a585 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 |