From c255bb45c32a04d7e6b215af78ee290ff79e7e5a Mon Sep 17 00:00:00 2001
From: Kaju Bubanja <bubanja.kaju@gmail.com>
Date: Wed, 21 Aug 2019 13:38:48 +0200
Subject: [PATCH] Deleted unused params and added deprecation warning

---
 .../organized_multi_plane_segmentation.hpp    |  2 --
 .../organized_multi_plane_segmentation.h      | 20 +++++++++++++++++--
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/segmentation/include/pcl/segmentation/impl/organized_multi_plane_segmentation.hpp b/segmentation/include/pcl/segmentation/impl/organized_multi_plane_segmentation.hpp
index b1d9084fac2..878f311c9df 100644
--- a/segmentation/include/pcl/segmentation/impl/organized_multi_plane_segmentation.hpp
+++ b/segmentation/include/pcl/segmentation/impl/organized_multi_plane_segmentation.hpp
@@ -312,8 +312,6 @@ pcl::OrganizedMultiPlaneSegmentation<PointT, PointNT, PointLT>::segmentAndRefine
 template<typename PointT, typename PointNT, typename PointLT> void
 pcl::OrganizedMultiPlaneSegmentation<PointT, PointNT, PointLT>::refine (std::vector<ModelCoefficients>& model_coefficients, 
                                                                         std::vector<PointIndices>& inlier_indices,
-                                                                        std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >&,
-                                                                        std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >&,
                                                                         PointCloudLPtr& labels,
                                                                         std::vector<pcl::PointIndices>& label_indices)
 {
diff --git a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
index 6a345102c46..202017da522 100644
--- a/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
+++ b/segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
@@ -263,7 +263,19 @@ namespace pcl
                         PointCloudLPtr& labels,
                         std::vector<pcl::PointIndices>& label_indices,
                         std::vector<pcl::PointIndices>& boundary_indices);
-      
+
+      /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
+        * \param [in] model_coefficients The list of segmented model coefficients
+        * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
+        * \param [in] labels The labels produced by the initial segmentation
+        * \param [in] label_indices The list of indices corresponding to each label
+        */
+      void
+      refine (std::vector<ModelCoefficients>& model_coefficients,
+              std::vector<PointIndices>& inlier_indices,
+              PointCloudLPtr& labels,
+              std::vector<pcl::PointIndices>& label_indices);
+
       /** \brief Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.
         * \param [in] model_coefficients The list of segmented model coefficients
         * \param [in] inlier_indices The list of segmented inlier indices, corresponding to each model
@@ -272,13 +284,17 @@ namespace pcl
         * \param [in] labels The labels produced by the initial segmentation
         * \param [in] label_indices The list of indices corresponding to each label
         */
+      [[deprecated("centroids and covariances parameters are not used; they are deprecated and will be removed in future releases")]]
       void
       refine (std::vector<ModelCoefficients>& model_coefficients, 
               std::vector<PointIndices>& inlier_indices,
               std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >& centroids,
               std::vector <Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> >& covariances,
               PointCloudLPtr& labels,
-              std::vector<pcl::PointIndices>& label_indices);
+              std::vector<pcl::PointIndices>& label_indices)
+      {
+        refine(model_coefficients, inlier_indices, labels, label_indices);
+      }
 
     protected: