Fix usage of some deprecated cloud types

Author: jlblancoc

tests/test-mp2p_FilterDecimateVoxels.cpp

@@ -20,7 +20,7 @@
 
 #include <mp2p_icp/metricmap.h>
 #include <mp2p_icp_filters/FilterDecimateVoxels.h>
-#include <mrpt/maps/CPointsMapXYZI.h>
+#include <mrpt/maps/CGenericPointsMap.h>
 #include <mrpt/math/ops_containers.h>
 #include <mrpt/system/filesystem.h>
 #include <mrpt/version.h>
@@ -31,7 +31,9 @@ using namespace mp2p_icp;
 // Helper to create a consistent point map for testing
 mrpt::maps::CPointsMap::Ptr createTestPoints(size_t n_x, size_t n_y)
 {
-    auto pc = mrpt::maps::CPointsMapXYZI::Create();
+    auto pc = mrpt::maps::CGenericPointsMap::Create();
+    pc->registerField_float(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY);
+
     // Create a 2D grid of points, 10x10. Each point has a small, known Z-offset.
     for (size_t i = 0; i < n_x; ++i)
     {
@@ -43,12 +45,7 @@ mrpt::maps::CPointsMap::Ptr createTestPoints(size_t n_x, size_t n_y)
             float intensity = static_cast<float>(i * n_y + j);
 
             pc->insertPointFast(x, y, z);
-#if MRPT_VERSION >= 0x020f00
-            pc->insertPointField_float(
-                mrpt::maps::CPointsMapXYZI::POINT_FIELD_INTENSITY, intensity);
-#else
-            pc->insertPointField_Intensity(intensity);
-#endif
+            pc->insertPointField_float(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY, intensity);
         }
     }
     return pc;
@@ -196,10 +193,8 @@ void test_decimate_method(
         ASSERT_NEAR_(bb.min.z, 0.0f, 0.2f);
     }
 
-    // Since we created CPointsMapXYZI, the output should also have intensity.
-#if MRPT_VERSION >= 0x020f00
-    ASSERT_(output_pc->hasPointField(mrpt::maps::CPointsMapXYZI::POINT_FIELD_INTENSITY));
-#endif
+    // The output should also have intensity.
+    ASSERT_(output_pc->hasPointField(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY));
     std::cout << " Success ✅." << std::endl;
 }
 

tests/test-mp2p_deskew.cpp

@@ -22,7 +22,7 @@
 #include <mp2p_icp/metricmap.h>
 #include <mp2p_icp_filters/FilterDeskew.h>
 #include <mp2p_icp_filters/sm2mm.h>
-#include <mrpt/maps/CPointsMapXYZIRT.h>
+#include <mrpt/maps/CGenericPointsMap.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/math/TPoint3D.h>
 #include <mrpt/math/TTwist3D.h>
@@ -47,7 +47,7 @@ struct SimulationParams
     mp2p_icp_filters::MotionCompensationMethod deskew_method =
         mp2p_icp_filters::MotionCompensationMethod::None;
 
-    std::string outputMapClass = "mrpt::maps::CPointsMapXYZIRT";
+    std::string outputMapClass = "mrpt::maps::CGenericPointsMap";
 };
 
 struct SimulationResult
@@ -238,11 +238,13 @@ Scenario simulate_scenario(const SimulationParams& p)
     return s;
 }
 
-mrpt::maps::CPointsMapXYZIRT::Ptr simulate_skewed_points(
+mrpt::maps::CGenericPointsMap::Ptr simulate_skewed_points(
     const mrpt::Clock::time_point& stamp, const mrpt::poses::CPose3DInterpolator& gtKeyframes,
     const std::vector<mrpt::math::TPoint3D>& gtPoints, const double lidar_scan_period)
 {
-    auto pts = mrpt::maps::CPointsMapXYZIRT::Create();
+    auto pts = mrpt::maps::CGenericPointsMap::Create();
+    pts->registerField_float(mrpt::maps::CPointsMap::POINT_FIELD_TIMESTAMP);
+    pts->registerField_float(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY);
 
     // Simulate a scan where each point is acquired at a different time during the scan period.
     // Assume points are acquired sequentially over [stamp, stamp + lidar_scan_period)
@@ -269,11 +271,9 @@ mrpt::maps::CPointsMapXYZIRT::Ptr simulate_skewed_points(
         // Add to map, with time offset
         pts->insertPointFast(pt_local.x, pt_local.y, pt_local.z);
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
-        pts->insertPointField_float("t", static_cast<float>(rel_time));
-#else
-        pts->insertPointField_Timestamp(static_cast<float>(rel_time));
-#endif
+        pts->insertPointField_float(
+            mrpt::maps::CPointsMap::POINT_FIELD_TIMESTAMP, static_cast<float>(rel_time));
+        pts->insertPointField_float(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY, 1.0f);
 
 #if 0
         std::cout << "PT[" << i << "] x: " << pt_local.x << ", y: " << pt_local.y
@@ -556,8 +556,9 @@ mrpt::maps::CSimplePointsMap simulate_gt_local_points(
     }  // end for each timestep
 
     // Now, reconstruct the points within the SM:
-    const auto sm2mmPipeline = mrpt::containers::yaml::FromText(mrpt::format(
-        R"yaml(
+    const auto sm2mmPipeline = mrpt::containers::yaml::FromText(
+        mrpt::format(
+            R"yaml(
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
@@ -594,7 +595,7 @@ mrpt::maps::CSimplePointsMap simulate_gt_local_points(
       # one or more layers to remove
       pointcloud_layer_to_remove: ["raw"]
     )yaml",
-        mrpt::typemeta::enum2str(p.deskew_method).c_str(), p.outputMapClass.c_str()));
+            mrpt::typemeta::enum2str(p.deskew_method).c_str(), p.outputMapClass.c_str()));
 
     mp2p_icp::metric_map_t            mm;
     mp2p_icp_filters::sm2mm_options_t sm2mm_opts;
@@ -619,8 +620,8 @@ mrpt::maps::CSimplePointsMap simulate_gt_local_points(
         return fields;
     }();
 
-    ASSERT_EQUAL_(outFields.count("intensity"), 1);
-    ASSERT_EQUAL_(outFields.count("t"), 1);
+    ASSERT_EQUAL_(outFields.count(std::string(mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY)), 1);
+    ASSERT_EQUAL_(outFields.count(std::string(mrpt::maps::CPointsMap::POINT_FIELD_TIMESTAMP)), 1);
 
     for (size_t i = 0; i < deskewedPts->size(); i++)
     {