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Replace some deprecated Eigen and VTK functions #6420

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Replace some deprecated Eigen and VTK functions #6420

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4 changes: 4 additions & 0 deletions apps/src/face_detection/filesystem_face_detection.cpp
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Expand Up @@ -98,7 +98,11 @@ run(pcl::RFFaceDetectorTrainer& fdrf,
bool result = face_detection_apps_utils::readMatrixFromFile(pose_file, pose_mat);

if (result) {
#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3>().canonicalEulerAngles(0, 1, 2);
#else
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3>().eulerAngles(0, 1, 2);
#endif
Eigen::Vector3f trans_vector =
Eigen::Vector3f(pose_mat(0, 3), pose_mat(1, 3), pose_mat(2, 3));
std::cout << ea << std::endl;
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8 changes: 8 additions & 0 deletions recognition/src/face_detection/face_detector_data_provider.cpp
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Expand Up @@ -93,7 +93,11 @@ void pcl::face_detection::FaceDetectorDataProvider<FeatureType, DataSet, LabelTy

if (readMatrixFromFile (pose_file, pose_mat))
{
#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().canonicalEulerAngles (0, 1, 2);
#else
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2);
#endif
ea *= 57.2957795f; //transform it to degrees to do the binning
int y = static_cast<int>(pcl_round ((ea[0] + static_cast<float>(std::abs (min_yaw))) / res_yaw));
int p = static_cast<int>(pcl_round ((ea[1] + static_cast<float>(std::abs (min_pitch))) / res_pitch));
Expand Down Expand Up @@ -354,7 +358,11 @@ void pcl::face_detection::FaceDetectorDataProvider<FeatureType, DataSet, LabelTy
pose_mat.setIdentity (4, 4);
readMatrixFromFile (pose_file, pose_mat);

#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().canonicalEulerAngles (0, 1, 2);
#else
Eigen::Vector3f ea = pose_mat.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2);
#endif
Eigen::Vector3f trans_vector = Eigen::Vector3f (pose_mat (0, 3), pose_mat (1, 3), pose_mat (2, 3));

pcl::PointXYZ center_point;
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4 changes: 4 additions & 0 deletions recognition/src/face_detection/rf_face_detector_trainer.cpp
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Expand Up @@ -519,7 +519,11 @@ void pcl::RFFaceDetectorTrainer::detectFaces()
head_clusters_centers_[i][1] = icp_trans (1, 3);
head_clusters_centers_[i][2] = icp_trans (2, 3);

#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
Eigen::Vector3f ea = icp_trans.topLeftCorner<3, 3> ().canonicalEulerAngles (0, 1, 2);
#else
Eigen::Vector3f ea = icp_trans.topLeftCorner<3, 3> ().eulerAngles (0, 1, 2);
#endif
head_clusters_rotation_[i][0] = ea[0];
head_clusters_rotation_[i][1] = ea[1];
head_clusters_rotation_[i][2] = ea[2];
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4 changes: 4 additions & 0 deletions registration/include/pcl/registration/impl/ndt.hpp
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Expand Up @@ -116,7 +116,11 @@ NormalDistributionsTransform<PointSource, PointTarget, Scalar>::computeTransform
// Convert initial guess matrix to 6 element transformation vector
Eigen::Matrix<double, 6, 1> transform, score_gradient;
Vector3 init_translation = eig_transformation.translation();
#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
Vector3 init_rotation = eig_transformation.rotation().canonicalEulerAngles(0, 1, 2);
#else
Vector3 init_rotation = eig_transformation.rotation().eulerAngles(0, 1, 2);
#endif
transform << init_translation.template cast<double>(),
init_rotation.template cast<double>();

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4 changes: 4 additions & 0 deletions sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp
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Expand Up @@ -213,7 +213,11 @@ pcl::SampleConsensusModelTorus<PointT, PointNT>::computeModelCoefficients(
B << -d.dot(p0), -d.dot(p1), -d.dot(p2), -d.dot(p3);

Eigen::Matrix<float, -1, -1> sol;
#if (EIGEN_WORLD_VERSION > 3 || (EIGEN_WORLD_VERSION == 3 && EIGEN_MAJOR_VERSION >= 5))
sol = A.jacobiSvd<Eigen::ComputeThinU | Eigen::ComputeThinV>().solve(B);
#else
sol = A.jacobiSvd(Eigen::ComputeThinU | Eigen::ComputeThinV).solve(B);
#endif

const float r_min = -sol(0);
const float D = sol(1);
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3 changes: 3 additions & 0 deletions visualization/src/image_viewer.cpp
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Expand Up @@ -66,7 +66,10 @@ pcl::visualization::ImageViewer::ImageViewer (const std::string& window_title)
{
// Prepare for image flip
algo_->SetInterpolationModeToCubic ();
#if (VTK_MAJOR_VERSION < 9 || (VTK_MAJOR_VERSION == 9 && VTK_MINOR_VERSION < 6))
// starting with VTK 9.6.0, this is a no-op and marked deprecated
algo_->PreserveImageExtentOn ();
#endif
algo_->FlipAboutOriginOn ();
algo_->SetFilteredAxis (1);

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5 changes: 4 additions & 1 deletion visualization/src/point_picking_event.cpp
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Expand Up @@ -212,8 +212,11 @@ pcl::visualization::PointPickingCallback::performAreaPick (vtkRenderWindowIntera

vtkPolyData* selected = glyph_filter->GetOutput ();
vtkIdTypeArray* global_ids = vtkIdTypeArray::SafeDownCast (selected->GetPointData ()->GetArray ("Indices"));

#if (VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION == 9 && VTK_MINOR_VERSION >= 7))
if (!global_ids->GetCapacity () || !selected->GetNumberOfPoints ())
#else
if (!global_ids->GetSize () || !selected->GetNumberOfPoints ())
#endif
continue;

Indices actor_indices;
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