From 9080882e3c1dc56fdb9a3ef0097bf19abeea5e88 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 19 Apr 2023 10:35:26 +0200
Subject: [PATCH] Make point cloud in ARON work for PCL 1.8
---
.../codewriter/cpp/generator/ndarray/PointCloud.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
index 66bfab7ae..1fe84d735 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/ndarray/PointCloud.cpp
@@ -106,7 +106,15 @@ namespace armarx::aron::codegenerator::cpp::generator
block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + dims + ".size() == 3, ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong dimensions for member '"+cppAccessor+"'.\"));");
block_if_data->addLine("ARMARX_CHECK_AND_THROW(" + type + " == \"" + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "\", ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"Received wrong type for member '"+cppAccessor+"'.\"));");
- block_if_data->addLine(cppAccessor + nextEl() + "assign(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "());");
+ // assign is not availablePCL for PCL 1.8
+ // block_if_data->addLine(cppAccessor + nextEl() + "assign(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "());");
+ block_if_data->addLine(cppAccessor + nextEl() + "clear();");
+ // resize(width, height , value) is not available either
+ // block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0], " + dims + "[1], " + std::get<0>(VoxelType2Cpp.at(this->type.getVoxelType())) + "()));");
+ block_if_data->addLine(cppAccessor + nextEl() + "resize(" + dims + "[0] * " + dims + "[1]);");
+ block_if_data->addLine(cppAccessor + nextEl() + "width = " + dims + "[0];");
+ block_if_data->addLine(cppAccessor + nextEl() + "height = " + dims + "[1];");
+
block_if_data->addLine("std::memcpy(reinterpret_cast<unsigned char*>(" + cppAccessor + nextEl() + "points.data()), "+data+".data(), "+data+".size());");
return resolveMaybeReadBlock(block_if_data, cppAccessor, variantAccessor);
}
--
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