Revert "[common] Modify index type for PCLPointField" (PointCloudLibr…

…ary#4227) This reverts commit ae87389.
levi-2020 · Jun 25, 2020 · 6148799 · 6148799
1 parent ae87389
commit 6148799
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Showing 7 changed files with 12 additions and 13 deletions.
diff --git a/common/include/pcl/PCLPointField.h b/common/include/pcl/PCLPointField.h
@@ -2,7 +2,6 @@
 
 #include <pcl/memory.h>       // for shared_ptr
 #include <pcl/type_traits.h>  // for asEnum_v
-#include <pcl/types.h>        // for index_t
 
 #include <string>   // for string
 #include <ostream>  // for ostream
@@ -13,9 +12,9 @@ namespace pcl
   {
     std::string name;
 
-    uindex_t offset = 0;
+    std::uint32_t offset = 0;
     std::uint8_t datatype = 0;
-    uindex_t count = 0;
+    std::uint32_t count = 0;
 
     enum PointFieldTypes { INT8 = traits::asEnum_v<std::int8_t>,
                            UINT8 = traits::asEnum_v<std::uint8_t>,

diff --git a/common/include/pcl/pcl_base.h b/common/include/pcl/pcl_base.h
@@ -237,7 +237,7 @@ namespace pcl
       bool fake_indices_;
 
       /** \brief The size of each individual field. */
-      std::vector<uindex_t> field_sizes_;
+      std::vector<int> field_sizes_;
 
       /** \brief The x-y-z fields indices. */
       index_t x_idx_, y_idx_, z_idx_;

diff --git a/common/src/common.cpp b/common/src/common.cpp
@@ -59,7 +59,7 @@ pcl::getMinMax (const pcl::PCLPointCloud2 &cloud, int,
   }
   const auto field_idx = std::distance(cloud.fields.begin (), result);
 
-  for (uindex_t i = 0; i < cloud.fields[field_idx].count; ++i)
+  for (unsigned int i = 0; i < cloud.fields[field_idx].count; ++i)
   {
     float data;
     // TODO: replace float with the real data type

diff --git a/io/src/pcd_io.cpp b/io/src/pcd_io.cpp
@@ -465,7 +465,7 @@ pcl::PCDReader::readBodyASCII (std::istream &fs, pcl::PCLPointCloud2 &cloud, int
           total += cloud.fields[d].count; // jump over this many elements in the string token
           continue;
         }
-        for (uindex_t c = 0; c < cloud.fields[d].count; ++c)
+        for (unsigned int c = 0; c < cloud.fields[d].count; ++c)
         {
           switch (cloud.fields[d].datatype)
           {
@@ -623,7 +623,7 @@ pcl::PCDReader::readBodyBinary (const unsigned char *map, pcl::PCLPointCloud2 &c
   {
     for (unsigned int d = 0; d < static_cast<unsigned int> (cloud.fields.size ()); ++d)
     {
-      for (uindex_t c = 0; c < cloud.fields[d].count; ++c)
+      for (std::uint32_t c = 0; c < cloud.fields[d].count; ++c)
       {
         switch (cloud.fields[d].datatype)
         {

diff --git a/test/io/test_io.cpp b/test/io/test_io.cpp
@@ -121,7 +121,7 @@ TEST (PCL, ComplexPCDFileASCII)
   int fpfh_idx = pcl::getFieldIndex (blob, "fpfh");
   EXPECT_EQ (fpfh_idx, 0);
   float val[33];
-  for (uindex_t i = 0; i < blob.fields[fpfh_idx].count; ++i)
+  for (std::size_t i = 0; i < blob.fields[fpfh_idx].count; ++i)
     memcpy (&val[i], &blob.data[0 * blob.point_step + blob.fields[fpfh_idx + 0].offset + i * sizeof (float)], sizeof (float));
 
   EXPECT_EQ (val[0], 0); 

diff --git a/visualization/include/pcl/visualization/impl/histogram_visualizer.hpp b/visualization/include/pcl/visualization/impl/histogram_visualizer.hpp
@@ -118,7 +118,7 @@ PCLHistogramVisualizer::addFeatureHistogram (
 
   // Parse the cloud data and store it in the array
   double xy[2];
-  for (uindex_t d = 0; d < fields[field_idx].count; ++d)
+  for (std::uint32_t d = 0; d < fields[field_idx].count; ++d)
   {
     xy[0] = d;
     //xy[1] = cloud.points[index].histogram[d];

diff --git a/visualization/src/histogram_visualizer.cpp b/visualization/src/histogram_visualizer.cpp
@@ -304,7 +304,7 @@ pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram (
 
   // Parse the cloud data and store it in the array
   double xy[2];
-  for (uindex_t d = 0; d < cloud.fields[field_idx].count; ++d)
+  for (unsigned int d = 0; d < cloud.fields[field_idx].count; ++d)
   {
     xy[0] = d;
     float data;
@@ -361,7 +361,7 @@ pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram (
 
   // Parse the cloud data and store it in the array
   double xy[2];
-  for (uindex_t d = 0; d < cloud.fields[field_idx].count; ++d)
+  for (unsigned int d = 0; d < cloud.fields[field_idx].count; ++d)
   {
     xy[0] = d;
     float data;
@@ -405,7 +405,7 @@ pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram (
 
   // Parse the cloud data and store it in the array
   double xy[2];
-  for (uindex_t d = 0; d < cloud.fields[field_idx].count; ++d)
+  for (unsigned int d = 0; d < cloud.fields[field_idx].count; ++d)
   {
     xy[0] = d;
     float data;
@@ -456,7 +456,7 @@ pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram (
 
   // Parse the cloud data and store it in the array
   double xy[2];
-  for (uindex_t d = 0; d < cloud.fields[field_idx].count; ++d)
+  for (unsigned int d = 0; d < cloud.fields[field_idx].count; ++d)
   {
     xy[0] = d;
     float data;