Add workaround for deprecated filter functions

[mvieth]

See also:
PointCloudLibrary/pcl@f26c6fc
PointCloudLibrary/pcl@630627b

[SteveMacenski]

I'm OK with this once CI passes

[mvieth]

Ping @SteveMacenski The reasons why the checks fail seem unrelated

[SteveMacenski]

Toggling to rerun, lets see what it says now. The noetic failure was caused by Eigen rather than Eigen3 rosdep and CMakelists entries. The Melodic looks like a fluke but lets see.

Ping me when it finishes and we can take a look again. If you're so motivated to change Eigen -> Eigen3 that would be great.

[mvieth]

@SteveMacenski ok, melodic passes now. The Eigen thing comes from pcl itself.

[SteveMacenski]

I think the Eigen thing is because the cmakelists / package.xml of pcl_ros points at Eigen and not Eigen3. I've experienced this issue in other packages as well, its a really easy "add a 3" situation anywhere Eigen exists. I'd appreciate if you were to add that, but if not, I can do it at a larger date.

[mvieth]

I am quite sure that the Eigen issue has to be fixed in pcl itself, not here in perception_pcl. Everywhere here, Eigen is already called Eigen3, except in the package.xml, but even with that changed the cmake warning still pops up. The log says:

Call Stack (most recent call first):
/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:152 (find_package)
/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:316 (find_eigen)
/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
CMakeLists.txt:10 (find_package)

PCL has a FindEigen.cmake that actually finds Eigen3, and there is a FindEigen.cmake in the ros distribution under share/cmake_modules that is deprecated. I guess these two get mixed up and that causes the problem. I might create a PR for this issue in the pcl repo.

[mvieth]

After thinking a bit more about the Eigen issue, it seems there is a really simple solution after all. The warning disappears just by moving the find_package(PCL) above the find_package(cmake_modules) in the CMakeLists of pcl_ros. Maybe the dependence on cmake_modules could be even completely removed, it seems to be not needed (any more).

[SteveMacenski]

@mvieth please make that change then

[mvieth]

@SteveMacenski done. No cmake warnings anymore.

[SteveMacenski]

Still warnings

05:15:46 /tmp/ws/src/perception_pcl/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp:215:48: warning: ‘void pcl::MovingLeastSquares<PointInT, PointOutT>::setPolynomialFit(bool) [with PointInT = pcl::PointXYZ; PointOutT = pcl::PointNormal]’ is deprecated: use setPolynomialOrder() instead [-Wdeprecated-declarations]
05:15:46   215 |     impl_.setPolynomialFit (use_polynomial_fit_);
05:15:46       |                                                ^
05:15:46 In file included from /tmp/ws/src/perception_pcl/pcl_ros/include/pcl_ros/surface/moving_least_squares.h:44,
05:15:46                  from /tmp/ws/src/perception_pcl/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp:39:
05:15:46 /usr/include/pcl-1.10/pcl/surface/mls.h:361:7: note: declared here
05:15:46   361 |       setPolynomialFit (bool polynomial_fit)
05:15:46       |       ^~~~~~~~~~~~~~~~

but not your problem in this PR. I'm good with this