Introduce VISP_HAVE_PCL_VERSION macro in vpConfig.h

CMakeLists.txt

@@ -1299,6 +1299,11 @@ if(USE_OPENCV)
   set(VISP_HAVE_OPENCV_VERSION "(${OpenCV_VERSION_MAJOR}<<16 | ${OpenCV_VERSION_MINOR}<<8 | ${OpenCV_VERSION_PATCH})") # for vpConfig.h
 endif()
 
+# PCL version
+if(USE_PCL)
+  set(VISP_HAVE_PCL_VERSION "(${PCL_VERSION_MAJOR}<<16 | ${PCL_VERSION_MINOR}<<8 | ${PCL_VERSION_PATCH})") # for vpConfig.h
+endif()
+
 # coin and gui
 if(USE_SOWIN OR USE_SOXT OR (USE_SOQT AND SoQt_FOUND) OR (USE_SOQT AND USE_QT))
   set(VISP_HAVE_COIN3D_AND_GUI TRUE)         # for header vpConfig.h

cmake/templates/VISPConfig.cmake.in

@@ -248,6 +248,7 @@ set(VISP_HAVE_OPENMP         "@VISP_HAVE_OPENMP@")
 set(VISP_HAVE_PANDA3D        "@VISP_HAVE_PANDA3D@")
 set(VISP_HAVE_PARPORT        "@VISP_HAVE_PARPORT@")
 set(VISP_HAVE_PCL            "@VISP_HAVE_PCL@")
+set(VISP_HAVE_PCL_VERSION    "@VISP_HAVE_PCL_VERSION@")
 set(VISP_HAVE_PIONEER        "@VISP_HAVE_PIONEER@")
 set(VISP_HAVE_PNG            "@VISP_HAVE_PNG@")
 set(VISP_HAVE_POLOLU         "@VISP_HAVE_POLOLU@")

cmake/templates/vpConfig.h.in

@@ -502,6 +502,8 @@ namespace vp = VISP_NAMESPACE_NAME;
 
 // Defined if required PCL components are found
 #if defined(VISP_HAVE_PCL)
+// PCL version in hexadecimal (for example 1.15.1 gives 0x010F01).
+#define VISP_HAVE_PCL_VERSION ${VISP_HAVE_PCL_VERSION}
 #cmakedefine VISP_HAVE_PCL_COMMON
 #cmakedefine VISP_HAVE_PCL_FILTERS
 #cmakedefine VISP_HAVE_PCL_IO

doc/config-doxygen.in

@@ -2520,6 +2520,7 @@ PREDEFINED             = @DOXYGEN_SHOULD_SKIP_THIS@ \
                          VISP_HAVE_PANDA3D \
                          VISP_HAVE_PARPORT \
                          VISP_HAVE_PCL \
+                         VISP_HAVE_PCL_VERSION=0x010E00 \
                          VISP_HAVE_PCL_COMMON \
                          VISP_HAVE_PCL_FILTERS \
                          VISP_HAVE_PCL_IO \

modules/core/include/visp3/core/vpImageConvert.h

@@ -368,7 +368,7 @@ class VISP_EXPORT vpImageConvert
 #if defined(VISP_HAVE_OPENMP)
                 std::lock_guard<std::mutex> lock(mutex);
 #endif
-#if PCL_VERSION_COMPARE(>=,1,14,1)
+#if (VISP_HAVE_PCL_VERSION >= 0x010E01) // 1.14.1
                 pointcloud->push_back(pcl::PointXYZRGB(point_3D[index_0], point_3D[index_1], point_3D[index_2],
                                                        color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B));
 #else
@@ -411,7 +411,7 @@ class VISP_EXPORT vpImageConvert
 #if defined(VISP_HAVE_OPENMP)
               std::lock_guard<std::mutex> lock(mutex);
 #endif
-#if PCL_VERSION_COMPARE(>=,1,14,1)
+#if (VISP_HAVE_PCL_VERSION >= 0x010E01) // 1.14.1
               pointcloud->push_back(pcl::PointXYZRGB(point_3D[index_0], point_3D[index_1], point_3D[index_2],
                                                      color.bitmap[p].R, color.bitmap[p].G, color.bitmap[p].B));
 #else

modules/sensor/src/rgb-depth/occipital_structure/vpOccipitalStructure.cpp

@@ -1084,7 +1084,7 @@ void vpOccipitalStructure::getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB
         pointcloud->points[static_cast<size_t>(depth_pixel_index)].z = m_invalidDepthValue;
 
         // For out of bounds color data, default to black.
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
         unsigned int r = 0, g = 0, b = 0;
         uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
@@ -1127,9 +1127,8 @@ void vpOccipitalStructure::getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB
         }
 
         if (color_pixel.y < 0 || color_pixel.y >= color_height || color_pixel.x < 0 || color_pixel.x >= color_width) {
-          // For out of bounds color data, default to a shade of blue in order to
-          // visually distinguish holes.
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+          // For out of bounds color data, default to a shade of blue in order to visually distinguish holes.
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
           unsigned int r = 0, g = 0, b = 0;
           uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
@@ -1144,7 +1143,7 @@ void vpOccipitalStructure::getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB
           unsigned int i_ = static_cast<unsigned int>(color_pixel.x);
           unsigned int j_ = static_cast<unsigned int>(color_pixel.y);
 
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
           uint32_t rgb = 0;
           if (swap_rb) {
             rgb =
@@ -1182,7 +1181,7 @@ void vpOccipitalStructure::getColoredPointcloud(pcl::PointCloud<pcl::PointXYZRGB
         }
       }
       else {
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
         uint32_t rgb = 0;
         if (swap_rb) {
           rgb = (static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel]) |

modules/sensor/src/rgb-depth/realsense/vpRealSense2.cpp

@@ -1009,7 +1009,7 @@ void vpRealSense2::getPointcloud(const rs2::depth_frame &depth_frame, const rs2:
         // For out of bounds color data, default to a shade of blue in order to
         // visually distinguish holes. This color value is same as the librealsense
         // out of bounds color value.
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
         unsigned int r = 96, g = 157, b = 198;
         uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
@@ -1048,7 +1048,7 @@ void vpRealSense2::getPointcloud(const rs2::depth_frame &depth_frame, const rs2:
           // For out of bounds color data, default to a shade of blue in order to
           // visually distinguish holes. This color value is same as the librealsense
           // out of bounds color value.
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
           unsigned int r = 96, g = 157, b = 198;
           uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
 
@@ -1063,7 +1063,7 @@ void vpRealSense2::getPointcloud(const rs2::depth_frame &depth_frame, const rs2:
           unsigned int i_ = static_cast<unsigned int>(color_pixel[1]);
           unsigned int j_ = static_cast<unsigned int>(color_pixel[0]);
 
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
           uint32_t rgb = 0;
           if (swap_rb) {
             rgb =
@@ -1101,7 +1101,7 @@ void vpRealSense2::getPointcloud(const rs2::depth_frame &depth_frame, const rs2:
         }
       }
       else {
-#if PCL_VERSION_COMPARE(<, 1, 1, 0)
+#if (VISP_HAVE_PCL_VERSION < 0x010100) // 1.1.0
         uint32_t rgb = 0;
         if (swap_rb) {
           rgb = (static_cast<uint32_t>(p_color_frame[(i * static_cast<unsigned int>(color_width) + j) * nb_color_pixel]) |

modules/tracker/mbt/src/depth/vpMbtFaceDepthNormal.cpp

@@ -709,7 +709,7 @@ bool vpMbtFaceDepthNormal::computeDesiredFeaturesPCL(const pcl::PointCloud<pcl::
     extract.setNegative(false);
     extract.filter(*point_cloud_face_extracted);
 
-#if PCL_VERSION_COMPARE(>=, 1, 7, 2)
+#if (VISP_HAVE_PCL_VERSION < 0x010702) // 1.7.2
     pcl::PointXYZ centroid_point_pcl;
     if (pcl::computeCentroid(*point_cloud_face_extracted, centroid_point_pcl)) {
       pcl::PointXYZ face_normal;