Replace some deprecated Eigen and VTK functions#6420
Merged
larshg merged 2 commits intoPointCloudLibrary:masterfrom Apr 27, 2026
Merged
Replace some deprecated Eigen and VTK functions#6420larshg merged 2 commits intoPointCloudLibrary:masterfrom
larshg merged 2 commits intoPointCloudLibrary:masterfrom
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- Use `canonicalEulerAngles` instead of `eulerAngles` if Eigen version is 5.0.0 or newer - Specify options as template parameters in `jacobiSvd` if Eigen version is 5.0.0 or newer - Do not call `PreserveImageExtentOn` if VTK version is 9.6.0 or newer - Use `GetCapacity` insstead of `GetSize` if VTK version is 9.7.0 or newer
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Pull request overview
Updates PCL’s Eigen/VTK integration points to avoid newly deprecated APIs by selecting alternative calls based on detected library versions.
Changes:
- Switch from
eulerAngles()tocanonicalEulerAngles()for Eigen ≥ 5. - Update
jacobiSvdoption passing style for Eigen ≥ 5. - Gate
vtkImageFlip::PreserveImageExtentOn()for VTK < 9.6 and replace deprecated VTK array size query usage for VTK ≥ 9.7.
Reviewed changes
Copilot reviewed 7 out of 7 changed files in this pull request and generated 7 comments.
Show a summary per file
| File | Description |
|---|---|
| visualization/src/point_picking_event.cpp | Adds VTK-version-dependent check using GetCapacity() vs GetSize() before reading selected indices |
| visualization/src/image_viewer.cpp | Skips deprecated/no-op PreserveImageExtentOn() on VTK ≥ 9.6 |
| sample_consensus/include/pcl/sample_consensus/impl/sac_model_torus.hpp | Uses Eigen-version-dependent jacobiSvd invocation style |
| registration/include/pcl/registration/impl/ndt.hpp | Uses Eigen-version-dependent Euler angle extraction method |
| recognition/src/face_detection/rf_face_detector_trainer.cpp | Uses Eigen-version-dependent Euler angle extraction method |
| recognition/src/face_detection/face_detector_data_provider.cpp | Uses Eigen-version-dependent Euler angle extraction method (two call sites) |
| apps/src/face_detection/filesystem_face_detection.cpp | Uses Eigen-version-dependent Euler angle extraction method |
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larshg
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Apr 27, 2026
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canonicalEulerAnglesinstead ofeulerAnglesif Eigen version is 5.0.0 or newerjacobiSvdif Eigen version is 5.0.0 or newerPreserveImageExtentOnif VTK version is 9.6.0 or newerGetCapacityinsstead ofGetSizeif VTK version is 9.7.0 or newer