Merge pull request #3209 from SergioRAgostinho/bind-gpu

[gpu] Prefer lambdas over binds.
PointCloudLibrary · Jul 8, 2019 · 4320d93 · 4320d93
2 parents 1524e5e + 9c335e1
commit 4320d93
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Showing 5 changed files with 40 additions and 16 deletions.
diff --git a/gpu/kinfu/tools/kinfu_app.cpp b/gpu/kinfu/tools/kinfu_app.cpp
@@ -961,18 +961,27 @@ struct KinFuApp
     using namespace openni_wrapper;
     using DepthImagePtr = boost::shared_ptr<DepthImage>;
     using ImagePtr = boost::shared_ptr<Image>;
-
-    std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_dev = boost::bind (&KinFuApp::source_cb2_device, this, _1, _2, _3);
-    std::function<void (const DepthImagePtr&)> func2_dev = boost::bind (&KinFuApp::source_cb1_device, this, _1);
 
-    std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_oni = boost::bind (&KinFuApp::source_cb2_oni, this, _1, _2, _3);
-    std::function<void (const DepthImagePtr&)> func2_oni = boost::bind (&KinFuApp::source_cb1_oni, this, _1);
-
+    std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func1_dev = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
+    {
+      source_cb2_device (img, depth, constant);
+    };
+    std::function<void (const DepthImagePtr&)> func2_dev = [this] (const DepthImagePtr& depth) { source_cb1_device (depth); };
+
+    std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func1_oni = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
+    {
+      source_cb2_oni (img, depth, constant);
+    };
+    std::function<void (const DepthImagePtr&)> func2_oni = [this] (const DepthImagePtr& depth) { source_cb1_oni (depth); };
+
     bool is_oni = dynamic_cast<pcl::ONIGrabber*>(&capture_) != nullptr;
     std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1 = is_oni ? func1_oni : func1_dev;
     std::function<void (const DepthImagePtr&)> func2 = is_oni ? func2_oni : func2_dev;
 
-    std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > func3 = boost::bind (&KinFuApp::source_cb3, this, _1);
+    std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > func3 = [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
+    {
+      source_cb3 (cloud);
+    };
 
     bool need_colors = integrate_colors_ || registration_;
     if ( pcd_source_ && !capture_.providesCallback<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)>() )

diff --git a/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp b/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp
@@ -983,9 +983,15 @@ struct KinFuLSApp
     using DepthImagePtr = boost::shared_ptr<DepthImage>;
     using ImagePtr = boost::shared_ptr<Image>;
 
-    std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1 = boost::bind (&KinFuLSApp::source_cb2, this, _1, _2, _3);
-    std::function<void (const DepthImagePtr&)> func2 = boost::bind (&KinFuLSApp::source_cb1, this, _1);
-    std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > func3 = boost::bind (&KinFuLSApp::source_cb3, this, _1);
+    std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func1 = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
+    {
+      source_cb2 (img, depth, constant);
+    };
+    std::function<void (const DepthImagePtr&)> func2 = [this] (const DepthImagePtr& depth) { source_cb1 (depth); };
+    std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > func3 = [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
+    {
+      source_cb3 (cloud);
+    };
 
     bool need_colors = integrate_colors_ || registration_ || enable_texture_extraction_;
 

diff --git a/gpu/kinfu_large_scale/tools/record_maps_rgb.cpp b/gpu/kinfu_large_scale/tools/record_maps_rgb.cpp
@@ -258,9 +258,15 @@ void
 grabAndSend ()
 {
   pcl::Grabber* interface = new pcl::OpenNIGrabber ();
-  //std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& )> f = boost::bind(&grabberCallBack, _1);
 
-  std::function<void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float constant)> f = boost::bind (&grabberMapsCallBack, _1, _2, _3);
+  std::function<void (const openni_wrapper::Image::Ptr&,
+                      const openni_wrapper::DepthImage::Ptr&,
+                      float)> f = [] (const openni_wrapper::Image::Ptr& img,
+                                      const openni_wrapper::DepthImage::Ptr& depth,
+                                      float constant)
+  {
+    grabberMapsCallBack (img, depth, constant);
+  };
 
 
   interface->registerCallback (f);

diff --git a/gpu/people/tools/people_app.cpp b/gpu/people/tools/people_app.cpp
@@ -281,9 +281,12 @@ class PeoplePCDApp
 
       using DepthImagePtr = boost::shared_ptr<openni_wrapper::DepthImage>;
       using ImagePtr = boost::shared_ptr<openni_wrapper::Image>;
-
-      std::function<void (const boost::shared_ptr<const PointCloud<PointXYZRGBA> >&)> func1 = boost::bind (&PeoplePCDApp::source_cb1, this, _1);
-      std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func2 = boost::bind (&PeoplePCDApp::source_cb2, this, _1, _2, _3);                  
+
+      std::function<void (const PointCloud<PointXYZRGBA>::ConstPtr&)> func1 = [this] (const PointCloud<PointXYZRGBA>::ConstPtr& cloud) { source_cb1 (cloud); };
+      std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func2 = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
+      {
+        source_cb2 (img, depth, constant);
+      };
       boost::signals2::connection c = cloud_cb_ ? capture_.registerCallback (func1) : capture_.registerCallback (func2);
 
       {

diff --git a/gpu/people/tools/people_tracking.cpp b/gpu/people/tools/people_tracking.cpp
@@ -60,7 +60,7 @@ class PeopleTrackingApp
       pcl::Grabber* interface = new pcl::OpenNIGrabber();
 
       std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f =
-        boost::bind (&PeopleTrackingApp::cloud_cb_, this, _1);
+        [this] (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud) { cloud_cb_ (cloud); };
 
       interface->registerCallback (f);
       interface->start ();