big refactorization of the include headers for pcl_visualization. Major

changes include: forward declarations for most classes used in headers, and inclusion of real headers (e.g., VTK) in the cpp implementations; fixes for certain command line tools, apps and examples in PCL that were not including the headers they were using correctly.
soyersoyer · Jun 18, 2013 · aff4fe9 · aff4fe9
1 parent 19dd2a1
commit aff4fe9
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diff --git a/apps/cloud_composer/src/items/fpfh_item.cpp b/apps/cloud_composer/src/items/fpfh_item.cpp
@@ -1,6 +1,6 @@
 #include <pcl/apps/cloud_composer/items/fpfh_item.h>
 #include <pcl/apps/cloud_composer/qt.h>
-
+#include <vtkRenderWindow.h>
 
 pcl::cloud_composer::FPFHItem::FPFHItem (QString name, pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfh_ptr, double radius)
   : CloudComposerItem (name)

diff --git a/apps/cloud_composer/src/tool_interface/abstract_tool.cpp b/apps/cloud_composer/src/tool_interface/abstract_tool.cpp
@@ -16,8 +16,8 @@ pcl::cloud_composer::AbstractTool::AbstractTool (PropertiesModel* parameter_mode
 }
 
 QList <pcl::cloud_composer::CloudComposerItem*>
-pcl::cloud_composer::AbstractTool::performAction (QList <const CloudComposerItem*> input_data, PointTypeFlags::PointType type)
+pcl::cloud_composer::AbstractTool::performAction (QList <const CloudComposerItem*>, PointTypeFlags::PointType)
 {
   qDebug () << "AbstractTool::performTemplatedAction";
   return QList <CloudComposerItem*> ();
-}
+}
diff --git a/apps/cloud_composer/tools/euclidean_clustering.cpp b/apps/cloud_composer/tools/euclidean_clustering.cpp
@@ -20,7 +20,7 @@ pcl::cloud_composer::EuclideanClusteringTool::~EuclideanClusteringTool ()
 }
 
 QList <pcl::cloud_composer::CloudComposerItem*>
-pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input_data, PointTypeFlags::PointType type)
+pcl::cloud_composer::EuclideanClusteringTool::performAction (ConstItemList input_data, PointTypeFlags::PointType)
 {
   QList <CloudComposerItem*> output;
   const CloudComposerItem* input_item;
@@ -133,4 +133,4 @@ pcl::cloud_composer::EuclideanClusteringToolFactory::createToolParameterModel (Q
 
 
   return parameter_model;
-}
+}
diff --git a/apps/modeler/include/pcl/apps/modeler/parameter.h b/apps/modeler/include/pcl/apps/modeler/parameter.h
@@ -125,7 +125,7 @@ namespace pcl
       public:
         IntParameter(const std::string& name, const std::string& description, int value, int low, int high, int step=1):
           Parameter(name, description, value), low_(low), high_(high), step_(step){}
-        ~IntParameter(){}
+        virtual ~IntParameter(){}
 
         operator int() const {return boost::any_cast<int>(current_value_);}
 
@@ -202,7 +202,7 @@ namespace pcl
       public:
         DoubleParameter(const std::string& name, const std::string& description, double value, double low, double high, double step=0.01):
           Parameter(name, description, value), low_(low), high_(high), step_(step){}
-        ~DoubleParameter(){}
+        virtual ~DoubleParameter(){}
 
         operator double() const {return boost::any_cast<double>(current_value_);}
 

diff --git a/apps/src/convolve.cpp b/apps/src/convolve.cpp
@@ -41,6 +41,7 @@
 #include <pcl/console/print.h>
 #include <pcl/filters/convolution.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/common/time.h>
 
 void
 usage (char ** argv)

diff --git a/apps/src/face_detection/openni_face_detection.cpp b/apps/src/face_detection/openni_face_detection.cpp
@@ -8,6 +8,7 @@
 #include "pcl/recognition/face_detection/rf_face_detector_trainer.h"
 #include "pcl/apps/face_detection/openni_frame_source.h"
 #include "pcl/apps/face_detection/face_detection_apps_utils.h"
+#include <pcl/common/time.h>
 #include <pcl/console/parse.h>
 #include <pcl/features/integral_image_normal.h>
 

diff --git a/apps/src/openni_passthrough.cpp b/apps/src/openni_passthrough.cpp
@@ -44,6 +44,8 @@
 // PCL
 #include <pcl/console/parse.h>
 
+#include <vtkRenderWindow.h>
+
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 OpenNIPassthrough::OpenNIPassthrough (pcl::OpenNIGrabber& grabber) 
   : vis_ ()

diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp
@@ -9,6 +9,8 @@
 #include <pcl/segmentation/extract_polygonal_prism_data.h>
 #include <pcl/surface/convex_hull.h>
 
+#include <vtkRenderWindow.h>
+
 void
 displayPlanarRegions (std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > &regions, 
                       boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer)

diff --git a/examples/segmentation/example_supervoxels.cpp b/examples/segmentation/example_supervoxels.cpp
@@ -7,6 +7,10 @@
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/segmentation/supervoxels.h>
 
+#include <vtkImageReader2Factory.h>
+#include <vtkImageReader2.h>
+#include <vtkImageData.h>
+#include <vtkImageFlip.h>
 
 using namespace pcl;
 

diff --git a/people/apps/main_ground_based_people_detection.cpp b/people/apps/main_ground_based_people_detection.cpp
@@ -51,6 +51,7 @@
 #include <pcl/io/openni_grabber.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
 #include <pcl/people/ground_based_people_detection_app.h>
+#include <pcl/common/time.h>
 
 typedef pcl::PointXYZRGBA PointT;
 typedef pcl::PointCloud<PointT> PointCloudT;

diff --git a/people/include/pcl/people/impl/person_classifier.hpp b/people/include/pcl/people/impl/person_classifier.hpp
@@ -199,9 +199,9 @@ pcl::people::PersonClassifier<PointT>::copyMakeBorder (PointCloudPtr& input_imag
   int y_end_in = std::min(int(input_image->height-1), ymin+height-1);
 
   int x_start_out = std::max(0, -xmin);
-  int x_end_out = x_start_out + (x_end_in - x_start_in);
+  //int x_end_out = x_start_out + (x_end_in - x_start_in);
   int y_start_out = std::max(0, -ymin);
-  int y_end_out = y_start_out + (y_end_in - y_start_in);
+  //int y_end_out = y_start_out + (y_end_in - y_start_in);
 
   for (unsigned int i = 0; i < (y_end_in - y_start_in + 1); i++)
   {
@@ -284,7 +284,7 @@ pcl::people::PersonClassifier<PointT>::evaluate (PointCloudPtr& image,
               Eigen::Vector3f& bottom,
               Eigen::Vector3f& top,
               Eigen::Vector3f& centroid,
-              Eigen::Matrix3f intrinsics_matrix,
+              Eigen::Matrix3f,
               bool vertical)
 {
   float pixel_height;

diff --git a/simulation/tools/sim_viewer.cpp b/simulation/tools/sim_viewer.cpp
@@ -669,7 +669,7 @@ loadPolygonMeshModel (char* polygon_file)
 }
 
 void
-initialize (int argc, char** argv)
+initialize (int, char** argv)
 {
   const GLubyte* version = glGetString (GL_VERSION);
   std::cout << "OpenGL Version: " << version << std::endl;

diff --git a/tools/obj_rec_ransac_accepted_hypotheses.cpp b/tools/obj_rec_ransac_accepted_hypotheses.cpp
@@ -50,6 +50,8 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_cloud.h>
 #include <vtkPolyDataReader.h>
+#include <vtkRenderWindow.h>
+#include <vtkTransformPolyDataFilter.h>
 #include <vtkDoubleArray.h>
 #include <vtkDataArray.h>
 #include <vtkPointData.h>

diff --git a/tools/obj_rec_ransac_orr_octree.cpp b/tools/obj_rec_ransac_orr_octree.cpp
@@ -59,6 +59,7 @@
 #include <vtkPolyDataReader.h>
 #include <vtkCubeSource.h>
 #include <vtkPointData.h>
+#include <vtkRenderWindow.h>
 #include <vector>
 #include <list>
 #include <cstdlib>

diff --git a/tools/obj_rec_ransac_orr_octree_zprojection.cpp b/tools/obj_rec_ransac_orr_octree_zprojection.cpp
@@ -54,6 +54,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/recognition/ransac_based/orr_octree_zprojection.h>
 #include <pcl/visualization/pcl_visualizer.h>
+#include <vtkRenderWindow.h>
 #include <vtkPolyData.h>
 #include <vtkAppendPolyData.h>
 #include <vtkPolyDataReader.h>

diff --git a/tools/obj_rec_ransac_result.cpp b/tools/obj_rec_ransac_result.cpp
@@ -54,6 +54,10 @@
 #include <vtkDataArray.h>
 #include <vtkPointData.h>
 #include <vtkHedgeHog.h>
+#include <vtkTransformPolyDataFilter.h>
+#include <vtkRenderer.h>
+#include <vtkRenderWindow.h>
+#include <vtkTransform.h>
 #include <cstdio>
 #include <vector>
 #include <list>

diff --git a/tools/octree_viewer.cpp b/tools/octree_viewer.cpp
@@ -36,7 +36,7 @@
  * */
 
 #include <pcl/io/pcd_io.h>
-
+#include <pcl/common/time.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/visualization/point_cloud_handlers.h>
 #include <pcl/visualization/common/common.h>
@@ -47,6 +47,9 @@
 #include <pcl/filters/filter.h>
 #include "boost.h"
 
+#include <vtkRenderer.h>
+#include <vtkRenderWindow.h>
+#include <vtkCubeSource.h>
 //=============================
 // Displaying cubes is very long!
 // so we limit their numbers.

diff --git a/tools/voxel_grid_occlusion_estimation.cpp b/tools/voxel_grid_occlusion_estimation.cpp
@@ -46,7 +46,10 @@
 #include <pcl/common/transforms.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/filters/voxel_grid_occlusion_estimation.h>
-
+#include <vtkCubeSource.h>
+#include <vtkRenderer.h>
+#include <vtkRenderWindow.h>
+#include <vtkRenderWindowInteractor.h>
 #include <vtkLine.h>
 
 using namespace pcl;

diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
@@ -43,6 +43,7 @@ if(build)
         src/common/common.cpp
         src/common/io.cpp
         src/common/shapes.cpp
+        src/common/ren_win_interact_map.cpp
         src/cloud_viewer.cpp
         src/image_viewer.cpp
         src/window.cpp

diff --git a/visualization/include/pcl/visualization/area_picking_event.h b/visualization/include/pcl/visualization/area_picking_event.h
@@ -3,6 +3,7 @@
  *
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2010-2011, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
  *
  *  All rights reserved.
  *
@@ -16,7 +17,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *   * Neither the name of the copyright holder(s) nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -33,7 +34,6 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
- * $Id: $
  */
 
 #ifndef PCL_VISUALIZATION_AREA_PICKING_EVENT_H_

diff --git a/visualization/include/pcl/visualization/cloud_viewer.h b/visualization/include/pcl/visualization/cloud_viewer.h
@@ -37,10 +37,7 @@
 #define PCL_CLOUD_VIEWER_H_
 
 #include <pcl/visualization/pcl_visualizer.h> //pcl vis
-#include <pcl/point_cloud.h> //basic pcl includes
-#include <pcl/point_types.h>
 
-#include <pcl/visualization/boost.h>
 #include <string>
 
 namespace pcl

diff --git a/visualization/include/pcl/visualization/common/actor_map.h b/visualization/include/pcl/visualization/common/actor_map.h
@@ -39,10 +39,12 @@
 
 #include <pcl/visualization/point_cloud_handlers.h>
 #include <vector>
-#include <vtkLODActor.h>
-#include <vtkSmartPointer.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <pcl/visualization/boost.h>
+#include <boost/unordered_map.hpp>
+
+template <typename T> class vtkSmartPointer;
+class vtkLODActor;
+class vtkProp;
 
 namespace pcl
 {

diff --git a/visualization/include/pcl/visualization/common/common.h b/visualization/include/pcl/visualization/common/common.h
@@ -42,12 +42,13 @@
 #endif
 
 #include <pcl/pcl_macros.h>
-#include <pcl/point_types.h>
 #include <pcl/visualization/eigen.h>
 #include <vtkMatrix4x4.h>
 
 namespace pcl
 {
+  class RGB;
+
   namespace visualization
   {
     /** \brief Get (good) random values for R/G/B.

diff --git a/visualization/include/pcl/visualization/common/impl/shapes.hpp b/visualization/include/pcl/visualization/common/impl/shapes.hpp
@@ -1,7 +1,10 @@
 /*
  * Software License Agreement (BSD License)
  *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2010, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -31,10 +34,14 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
- * $Id$
- *
  */
 
+#pragma once
+#include <vtkSmartPointer.h>
+#include <vtkPoints.h>
+#include <vtkPolygon.h>
+#include <vtkUnstructuredGrid.h>
+
 ////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> vtkSmartPointer<vtkDataSet> 
 pcl::visualization::createPolygon (const typename pcl::PointCloud<PointT>::ConstPtr &cloud)

diff --git a/visualization/include/pcl/visualization/common/io.h b/visualization/include/pcl/visualization/common/io.h
@@ -1,7 +1,10 @@
 /*
  * Software License Agreement (BSD License)
  *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2010, Willow Garage, Inc.
+ *  Copyright (c) 2012-, Open Perception, Inc.
+ *
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
@@ -14,7 +17,7 @@
  *     copyright notice, this list of conditions and the following
  *     disclaimer in the documentation and/or other materials provided
  *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *   * Neither the name of the copyright holder(s) nor the names of its
  *     contributors may be used to endorse or promote products derived
  *     from this software without specific prior written permission.
  *
@@ -31,17 +34,16 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
- * $Id$
- *
  */
 #ifndef PCL_PCL_VISUALIZER_COMMON_IO_H_
 #define PCL_PCL_VISUALIZER_COMMON_IO_H_
 
 #include <pcl/visualization/common/actor_map.h>
-#include <pcl/visualization/vtk.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/console/print.h>
 
+class vtkPolyData;
+
 namespace pcl
 {
   namespace visualization