pcl_utils: adapt to ROS melodic with updated PCL

ROS melodic also ships with an updated PCL. Change the order of the version checks so we first check the PCL version, and only then check if we have an old PCL with ROS.
fawkesrobotics · Sep 25, 2019 · d8f3699 · d8f3699
1 parent bcbbac4
commit d8f3699
Showing 1 changed file with 24 additions and 24 deletions.
diff --git a/src/libs/pcl_utils/utils.h b/src/libs/pcl_utils/utils.h
@@ -78,12 +78,12 @@ template <typename PointT>
 inline void
 set_time(pcl::PointCloud<PointT> &cloud, const fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+	cloud.header.stamp = time.in_usec();
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
 	cloud.header.stamp.sec  = time.get_sec();
 	cloud.header.stamp.nsec = time.get_usec() * 1000;
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
-	cloud.header.stamp = time.in_usec();
 #	else
 	PointCloudTimestamp pclts;
 	pclts.time.sec     = time.get_sec();
@@ -129,11 +129,11 @@ template <typename PointT>
 inline void
 get_time(const fawkes::RefPtr<const pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -152,11 +152,11 @@ template <typename PointT>
 inline void
 get_time(const fawkes::RefPtr<pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -175,11 +175,11 @@ template <typename PointT>
 inline void
 get_time(const pcl::PointCloud<PointT> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud.header.stamp.sec, cloud.header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud.header.stamp / 1000000U, cloud.header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud.header.stamp.sec, cloud.header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud.header.stamp;
@@ -198,11 +198,11 @@ template <typename PointT>
 inline void
 get_time(const boost::shared_ptr<pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;
@@ -221,11 +221,11 @@ template <typename PointT>
 inline void
 get_time(const boost::shared_ptr<const pcl::PointCloud<PointT>> &cloud, fawkes::Time &time)
 {
-#if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
-	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
-#else
-#	if PCL_VERSION_COMPARE(>=, 1, 7, 0)
+#if PCL_VERSION_COMPARE(>=, 1, 7, 0)
 	time.set_time(cloud->header.stamp / 1000000U, cloud->header.stamp % 1000000);
+#else
+#	if defined(HAVE_ROS_PCL) || defined(ROSCPP_TYPES_H)
+	time.set_time(cloud->header.stamp.sec, cloud->header.stamp.nsec / 1000);
 #	else
 	PointCloudTimestamp pclts;
 	pclts.timestamp = cloud->header.stamp;