Fix usage of some deprecated cloud types

apps/mm2txt/main.cpp

@@ -193,19 +193,30 @@ void run_mm2txt()
             saveToTxt(*genxyz, filName, printHeader);
         }
 #if MRPT_VERSION < 0x030000  // <3.0.0
-        else if (auto* xyzirt = dynamic_cast<const mrpt::maps::CPointsMapXYZIRT*>(pts); xyzirt)
-        {
-            xyzirt->saveXYZIRT_to_text_file(filName);
-        }
-        else if (auto* xyzi = dynamic_cast<const mrpt::maps::CPointsMapXYZI*>(pts); xyzi)
+        else
         {
-            xyzi->saveXYZI_to_text_file(filName);
-        }
-#endif
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+            if (auto* xyzirt = dynamic_cast<const mrpt::maps::CPointsMapXYZIRT*>(pts); xyzirt)
+            {
+                xyzirt->saveXYZIRT_to_text_file(filName);
+            }
+            else if (auto* xyzi = dynamic_cast<const mrpt::maps::CPointsMapXYZI*>(pts); xyzi)
+            {
+                xyzi->saveXYZI_to_text_file(filName);
+            }
+            else
+            {
+                pts->save3D_to_text_file(filName);
+            }
+#pragma GCC diagnostic pop
+        }
+#else
         else
         {
             pts->save3D_to_text_file(filName);
         }
+#endif
     }
 }
 

apps/txt2mm/main.cpp

@@ -37,6 +37,11 @@
 
 const char* VALID_FORMATS = "(xyz|xyzi|xyzirt|xyzrgb|xyzrgb_normalized)";
 
+// Replicated here from CGenericPointsMap until MRPT 2.15.3 is minimum required version:
+constexpr static std::string_view POINT_FIELD_INTENSITY = "intensity";
+constexpr static std::string_view POINT_FIELD_RING_ID   = "ring";
+constexpr static std::string_view POINT_FIELD_TIMESTAMP = "t";
+
 using namespace std::string_literals;
 
 // CLI flags:
@@ -161,12 +166,8 @@ int main(int argc, char** argv)
         else if (format == "xyzi")
         {
             ASSERT_GE_(nCols, 4U);
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
             auto pts = mrpt::maps::CGenericPointsMap::Create();
-            pts->registerField_float("intensity");
-#else
-            auto pts = mrpt::maps::CPointsMapXYZI::Create();
-#endif
+            pts->registerField_float(POINT_FIELD_INTENSITY);
             pts->reserve(nRows);
             if (nCols > 4)
             {
@@ -178,26 +179,18 @@ int main(int argc, char** argv)
             for (size_t i = 0; i < nRows; i++)
             {
                 pts->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
-                pts->insertPointField_float("intensity", data(i, idxI));
-#else
-                pts->insertPointField_Intensity(data(i, idxI));
-#endif
+                pts->insertPointField_float(POINT_FIELD_INTENSITY, data(i, idxI));
             }
 
             pc = pts;
         }
         else if (format == "xyzirt")
         {
             ASSERT_GE_(nCols, 6U);
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
             auto pts = mrpt::maps::CGenericPointsMap::Create();
-            pts->registerField_float("intensity");
-            pts->registerField_uint16("ring");
-            pts->registerField_float("timestamp");
-#else
-            auto pts = mrpt::maps::CPointsMapXYZI::Create();
-#endif
+            pts->registerField_float(POINT_FIELD_INTENSITY);
+            pts->registerField_uint16(POINT_FIELD_RING_ID);
+            pts->registerField_float(POINT_FIELD_TIMESTAMP);
             pts->reserve(nRows);
             if (nCols > 6)
             {
@@ -209,15 +202,10 @@ int main(int argc, char** argv)
             for (size_t i = 0; i < nRows; i++)
             {
                 pts->insertPointFast(data(i, idxX + 0), data(i, idxX + 1), data(i, idxX + 2));
-#if MRPT_VERSION >= 0x20f00  // 2.15.0
-                pts->insertPointField_float("intensity", data(i, idxI));
-                pts->insertPointField_uint16("ring", static_cast<uint16_t>(data(i, idxR)));
-                pts->insertPointField_float("timestamp", data(i, idxT));
-#else
-                pts->insertPointField_Intensity(data(i, idxI));
-                pts->insertPointField_Ring(data(i, idxR));
-                pts->insertPointField_Timestamp(data(i, idxT));
-#endif
+                pts->insertPointField_float(POINT_FIELD_INTENSITY, data(i, idxI));
+                pts->insertPointField_uint16(
+                    POINT_FIELD_RING_ID, static_cast<uint16_t>(data(i, idxR)));
+                pts->insertPointField_float(POINT_FIELD_TIMESTAMP, data(i, idxT));
             }
 
             pc = pts;

mp2p_icp_filters/include/mp2p_icp_filters/FilterBase.h

@@ -29,6 +29,7 @@
 #include <mrpt/obs/obs_frwds.h>
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/system/COutputLogger.h>
+#include <mrpt/version.h>
 
 namespace mrpt::system
 {
@@ -117,6 +118,18 @@ void apply_filter_pipeline(
     const std::string&                  filename,
     const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO);
 
+// For convenience, define shortcut names for common point cloud field names:
+#if MRPT_VERSION >= 0x20f03  // 2.15.3
+constexpr auto POINT_FIELD_INTENSITY = mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY;
+constexpr auto POINT_FIELD_RING_ID   = mrpt::maps::CPointsMap::POINT_FIELD_RING_ID;
+constexpr auto POINT_FIELD_TIMESTAMP = mrpt::maps::CPointsMap::POINT_FIELD_TIMESTAMP;
+#else
+// Define here locally, until MRPT 2.15.3 is the minimum required version:
+constexpr static std::string_view POINT_FIELD_INTENSITY = "intensity";
+constexpr static std::string_view POINT_FIELD_RING_ID   = "ring";
+constexpr static std::string_view POINT_FIELD_TIMESTAMP = "t";
+#endif
+
 /** @} */
 
 }  // namespace mp2p_icp_filters

mp2p_icp_filters/src/FilterByIntensity.cpp

@@ -109,11 +109,8 @@ void FilterByIntensity::filter(mp2p_icp::metric_map_t& inOut) const
 
     const auto& xs = pc.getPointsBufferRef_x();
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
-    const auto* ptrI = pc.getPointsBufferRef_float_field("intensity");
-#else
-    const auto* ptrI = pc.getPointsBufferRef_intensity();
-#endif
+    const auto* ptrI = pc.getPointsBufferRef_float_field(POINT_FIELD_INTENSITY);
+
     if (!ptrI || ptrI->empty())
     {
         THROW_EXCEPTION_FMT(

mp2p_icp_filters/src/FilterDecimateVoxels.cpp

@@ -261,14 +261,27 @@ void FilterDecimateVoxels::filter(mp2p_icp::metric_map_t& inOut) const
                     // First time we see this (x,y) cell:
                     flattenUsedBins.insert(flattenIdx);
 
-                    outPc->insertPointFast(
-                        vxl.point->x, vxl.point->y, static_cast<float>(*params.flatten_to));
+                    const auto* pc = vxl.source.value();
+
+                    auto& ctx = ctxs[pc];
+                    if (!ctx.xs_src)
+                    {
+                        outPc->registerPointFieldsFrom(*pc);
+                        ctx = outPc->prepareForInsertPointsFrom(*pc);
+                    }
+#if MRPT_VERSION >= 0x020f03  // 2.15.3
+                    outPc->insertPointFrom(*vxl.pointIdx, ctx);
+#else
+                    outPc->insertPointFrom(*pc, *vxl.pointIdx, ctx);
+#endif
+                    // Actual flatten in "z":
+                    outPc->getPointsBufferRef_float_field("z")->back() =
+                        static_cast<float>(*params.flatten_to);
                 }
                 else
                 {
                     const auto* pc = vxl.source.value();
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
                     auto& ctx = ctxs[pc];
                     if (!ctx.xs_src)
                     {
@@ -279,9 +292,6 @@ void FilterDecimateVoxels::filter(mp2p_icp::metric_map_t& inOut) const
                     outPc->insertPointFrom(*vxl.pointIdx, ctx);
 #else
                     outPc->insertPointFrom(*pc, *vxl.pointIdx, ctx);
-#endif
-#else
-                    outPc->insertPointFrom(*pc, *vxl.pointIdx);
 #endif
                 }
             });

mp2p_icp_filters/src/FilterNormalizeIntensity.cpp

@@ -62,11 +62,7 @@ void FilterNormalizeIntensity::filter(mp2p_icp::metric_map_t& inOut) const
 
     auto& pc = *pcPtr;
 
-#if MRPT_VERSION >= 0x020f00  // 2.15.0
-    auto* IsPtr = pc.getPointsBufferRef_float_field("intensity");
-#else
-    auto* IsPtr = pc.getPointsBufferRef_intensity();
-#endif
+    auto* IsPtr = pc.getPointsBufferRef_float_field(POINT_FIELD_INTENSITY);
 
     ASSERTMSG_(
         IsPtr != nullptr,

mp2p_icp_filters/src/Generator.cpp

@@ -30,8 +30,8 @@
 #include <mrpt/config/CConfigFileMemory.h>
 #include <mrpt/containers/yaml.h>
 #include <mrpt/core/get_env.h>
+#include <mrpt/maps/CGenericPointsMap.h>
 #include <mrpt/maps/CMultiMetricMap.h>
-#include <mrpt/maps/CPointsMapXYZIRT.h>
 #include <mrpt/maps/CSimplePointsMap.h>
 #include <mrpt/obs/CObservation2DRangeScan.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
@@ -185,13 +185,13 @@ bool Generator::filterVelodyneScan(  //
 {
     mrpt::maps::CPointsMap::Ptr outPc = GetOrCreatePointLayer(
         out, params.target_layer, false /*does not allow empty name*/,
-        "mrpt::maps::CPointsMapXYZIRT" /* creation class if not existing */);
+        "mrpt::maps::CGenericPointsMap" /* creation class if not existing */);
     ASSERT_(outPc);
 
-    auto m = std::dynamic_pointer_cast<mrpt::maps::CPointsMapXYZIRT>(outPc);
+    auto m = std::dynamic_pointer_cast<mrpt::maps::CGenericPointsMap>(outPc);
     ASSERTMSG_(
         m,
-        "Output layer must be of type mrpt::maps::CPointsMapXYZIRT for the "
+        "Output layer must be of type mrpt::maps::CGenericPointsMap for the "
         "specialized filterVelodyneScan() generator.");
 
     m->insertObservation(pc, robotPose);

tests/test-mp2p_FilterByExpression.cpp

@@ -54,7 +54,7 @@ void FilterByExpression_SpatialFiltering()
 
 void FilterByExpression_IntensityAndLogic()
 {
-    constexpr auto INTENSITY = mrpt::maps::CPointsMap::POINT_FIELD_INTENSITY;
+    constexpr auto INTENSITY = POINT_FIELD_INTENSITY;
 
     auto pc = mrpt::maps::CGenericPointsMap::Create();
     pc->registerField_float(INTENSITY);
@@ -88,12 +88,12 @@ void FilterByExpression_IntensityAndLogic()
 void FilterByExpression_CustomFields()
 {
     auto pc = mrpt::maps::CGenericPointsMap::Create();
-    pc->registerField_uint16(mrpt::maps::CPointsMap::POINT_FIELD_RING_ID);
+    pc->registerField_uint16(POINT_FIELD_RING_ID);
     pc->registerField_uint8("SEMANTICS");
     pc->registerField_double("latitude");
 
     pc->insertPoint(0, 0, 0);
-    pc->insertPointField_uint16(mrpt::maps::CPointsMap::POINT_FIELD_RING_ID, 32);
+    pc->insertPointField_uint16(POINT_FIELD_RING_ID, 32);
     pc->insertPointField_uint8("SEMANTICS", 12);
     pc->insertPointField_double("latitude", 3.14);
 

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(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(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(POINT_FIELD_INTENSITY));
     std::cout << " Success ✅." << std::endl;
 }
 

tests/test-mp2p_Filters.cpp

@@ -38,7 +38,7 @@ using namespace mp2p_icp;
 namespace
 {
 
-constexpr std::string_view INTENSITY = "intensity";
+constexpr std::string_view INTENSITY = POINT_FIELD_INTENSITY;
 
 // Helper to create a test point cloud with known positions and intensities
 mrpt::maps::CPointsMap::Ptr createTestPointsWithIntensity(
@@ -204,10 +204,9 @@ void test_FilterByIntensity_ThreeLayers()
     ASSERT_EQUAL_(low_pc->size() + mid_pc->size() + high_pc->size(), input_pc->size());
 
     // Verify intensity ranges
-#if MRPT_VERSION >= 0x020f00
-    const auto* ptrI_low  = low_pc->getPointsBufferRef_float_field("intensity");
-    const auto* ptrI_mid  = mid_pc->getPointsBufferRef_float_field("intensity");
-    const auto* ptrI_high = high_pc->getPointsBufferRef_float_field("intensity");
+    const auto* ptrI_low  = low_pc->getPointsBufferRef_float_field(POINT_FIELD_INTENSITY);
+    const auto* ptrI_mid  = mid_pc->getPointsBufferRef_float_field(POINT_FIELD_INTENSITY);
+    const auto* ptrI_high = high_pc->getPointsBufferRef_float_field(POINT_FIELD_INTENSITY);
 
     if (ptrI_low)
     {
@@ -233,7 +232,6 @@ void test_FilterByIntensity_ThreeLayers()
             ASSERT_GT_(I, 0.7f);
         }
     }
-#endif
 
     std::cout << "Success ✅" << std::endl;
 }
@@ -614,7 +612,7 @@ void test_FilterMLS_DistinctCloudProjection()
     {
         avg_z += z;
     }
-    avg_z /= mls_pc->size();
+    avg_z /= static_cast<double>(mls_pc->size());
 
     // Average z should be closer to 2.0 than the distinct cloud's z=3.0
     ASSERT_LT_(std::abs(avg_z - 2.0f), 0.5f);