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Revert smart pointer type change in PointCloud and deprecate getMapping() #3563

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merged 1 commit into from
Jan 17, 2020
+8 −5
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Revert smart pointer type change in PointCloud and deprecate getMapping() #3563

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13 changes: 8 additions & 5 deletions common/include/pcl/point_cloud.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,9 @@
#include <pcl/pcl_macros.h>
#include <pcl/point_traits.h>

#include <boost/shared_ptr.hpp>

#include <algorithm>
#include <memory>
#include <utility>
#include <vector>

Expand Down Expand Up @@ -136,7 +137,9 @@ namespace pcl

namespace detail
{
template <typename PointT> std::shared_ptr<pcl::MsgFieldMap>&
template <typename PointT>
[[deprecated("use createMapping() instead")]]
boost::shared_ptr<pcl::MsgFieldMap>&
getMapping (pcl::PointCloud<PointT>& p);
} // namespace detail

Expand Down Expand Up @@ -603,17 +606,17 @@ namespace pcl

protected:
// This is motivated by ROS integration. Users should not need to access mapping_.
std::shared_ptr<MsgFieldMap> mapping_;
[[deprecated("rewrite your code to avoid using this protected field")]] boost::shared_ptr<MsgFieldMap> mapping_;

friend std::shared_ptr<MsgFieldMap>& detail::getMapping<PointT>(pcl::PointCloud<PointT> &p);
friend boost::shared_ptr<MsgFieldMap>& detail::getMapping<PointT>(pcl::PointCloud<PointT> &p);

public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
};

namespace detail
{
template <typename PointT> std::shared_ptr<pcl::MsgFieldMap>&
template <typename PointT> boost::shared_ptr<pcl::MsgFieldMap>&
getMapping (pcl::PointCloud<PointT>& p)
{
return (p.mapping_);
Expand Down