fixed all warnings

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@29627 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

Author: Radu Rusu

include/laser_assembler/base_assembler.h

@@ -242,11 +242,11 @@ void BaseAssembler<T>::msgCallback(const boost::shared_ptr<const T>& scan_ptr)
   scan_hist_mutex_.lock() ;
   if (scan_hist_.size() == max_scans_)                           // Is our deque full?
   {
-    total_pts_ -= scan_hist_.front().get_points_size() ;            // We're removing an elem, so this reduces our total point count
+    total_pts_ -= scan_hist_.front().points.size () ;            // We're removing an elem, so this reduces our total point count
     scan_hist_.pop_front() ;                                     // The front of the deque has the oldest elem, so we can get rid of it
   }
   scan_hist_.push_back(cur_cloud) ;                              // Add the newest scan to the back of the deque
-  total_pts_ += cur_cloud.get_points_size() ;                       // Add the new scan to the running total of points
+  total_pts_ += cur_cloud.points.size () ;                       // Add the new scan to the running total of points
 
   //printf("Scans: %4u  Points: %10u\n", scan_hist_.size(), total_pts_) ;
 
@@ -284,7 +284,7 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
   while ( i < scan_hist_.size() &&                                                    // Don't go past end of deque
           scan_hist_[i].header.stamp < req.end )                                      // Don't go past the end-time of the request
   {
-    req_pts += (scan_hist_[i].get_points_size()+downsample_factor_-1)/downsample_factor_ ;
+    req_pts += (scan_hist_[i].points.size ()+downsample_factor_-1)/downsample_factor_ ;
     i += downsample_factor_ ;
   }
   unsigned int past_end_index = i ;
@@ -293,20 +293,20 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
   {
     resp.cloud.header.frame_id = fixed_frame_ ;
     resp.cloud.header.stamp = req.end ;
-    resp.cloud.set_points_size(0) ;
-    resp.cloud.set_channels_size(0) ;
+    resp.cloud.points.resize (0) ;
+    resp.cloud.channels.resize (0) ;
   }
   else
   {
     // Note: We are assuming that channel information is consistent across multiple scans. If not, then bad things (segfaulting) will happen
     // Allocate space for the cloud
-    resp.cloud.set_points_size( req_pts ) ;
-    const unsigned int num_channels = scan_hist_[start_index].get_channels_size() ;
-    resp.cloud.set_channels_size(num_channels) ;
+    resp.cloud.points.resize (req_pts);
+    const unsigned int num_channels = scan_hist_[start_index].channels.size ();
+    resp.cloud.channels.resize (num_channels) ;
     for (i = 0; i<num_channels; i++)
     {
       resp.cloud.channels[i].name = scan_hist_[start_index].channels[i].name ;
-      resp.cloud.channels[i].set_values_size(req_pts) ;
+      resp.cloud.channels[i].values.resize (req_pts) ;
     }
     //resp.cloud.header.stamp = req.end ;
     resp.cloud.header.frame_id = fixed_frame_ ;
@@ -317,11 +317,11 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
       // Sanity check: Each channel should be the same length as the points vector
       for (unsigned int chan_ind = 0; chan_ind < scan_hist_[i].channels.size(); chan_ind++)
       {
-        if (scan_hist_[i].get_points_size() != scan_hist_[i].channels[chan_ind].values.size())
-          ROS_FATAL("Trying to add a malformed point cloud. Cloud has %u points, but channel %u has %u elems", scan_hist_[i].get_points_size(), chan_ind, scan_hist_[i].channels[chan_ind].get_values_size());
+        if (scan_hist_[i].points.size () != scan_hist_[i].channels[chan_ind].values.size())
+          ROS_FATAL("Trying to add a malformed point cloud. Cloud has %u points, but channel %u has %u elems", (int)scan_hist_[i].points.size (), chan_ind, (int)scan_hist_[i].channels[chan_ind].values.size ());
       }
 
-      for(unsigned int j=0; j<scan_hist_[i].get_points_size(); j+=downsample_factor_)
+      for(unsigned int j=0; j<scan_hist_[i].points.size (); j+=downsample_factor_)
       {
         resp.cloud.points[cloud_count].x = scan_hist_[i].points[j].x ;
         resp.cloud.points[cloud_count].y = scan_hist_[i].points[j].y ;
@@ -337,7 +337,7 @@ bool BaseAssembler<T>::assembleScans(AssembleScans::Request& req, AssembleScans:
   }
   scan_hist_mutex_.unlock() ;
 
-  ROS_DEBUG("Point Cloud Results: Aggregated from index %u->%u. BufferSize: %lu. Points in cloud: %u", start_index, past_end_index, scan_hist_.size(), resp.cloud.get_points_size()) ;
+  ROS_DEBUG("Point Cloud Results: Aggregated from index %u->%u. BufferSize: %lu. Points in cloud: %u", start_index, past_end_index, scan_hist_.size(), (int)resp.cloud.points.size ()) ;
   return true ;
 }
 

src/laser_scan_assembler.cpp

@@ -75,7 +75,7 @@ class LaserScanAssembler : public BaseAssembler<sensor_msgs::LaserScan>
 
   unsigned int GetPointsInScan(const sensor_msgs::LaserScan& scan)
   {
-    return scan.get_ranges_size();
+    return (scan.ranges.size ());
   }
 
   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud& cloud_out)

src/point_cloud_assembler.cpp

@@ -62,7 +62,7 @@ class PointCloudAssembler : public BaseAssembler<sensor_msgs::PointCloud>
 
   unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
   {
-    return scan.get_points_size() ;
+    return (scan.points.size ());
   }
 
   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)