Merge branch 'master' of https://github.com/PointCloudLibrary/pcl

CMakeLists.txt

@@ -5,6 +5,10 @@ if(POLICY CMP0048)
   cmake_policy(SET CMP0048 OLD) # do not use VERSION option in project() command
 endif()
 
+if(POLICY CMP0054)
+  cmake_policy(SET CMP0054 OLD) # Silent warnings about quoted variables
+endif()
+
 set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE)
 
 # In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo
@@ -370,7 +374,9 @@ if(WITH_VTK AND NOT ANDROID)
     if (PCL_SHARED_LIBS OR
         (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
       set(VTK_FOUND TRUE)
-      find_package (QVTK)
+      find_library (QVTK_LIBRARY_DEBUG NAMES "@QVTK_LIBRARY_DEBUG_NAME@")
+      find_library (QVTK_LIBRARY_RELEASE NAMES "@QVTK_LIBRARY_RELEASE_NAME@")
+      set(QVTK_LIBRARY optimized ${QVTK_LIBRARY_RELEASE} debug ${QVTK_LIBRARY_DEBUG}) 
       if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
          message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
          link_directories(${VTK_LIBRARY_DIRS})

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/crh_estimator.h

@@ -43,7 +43,7 @@ namespace pcl
       void
       estimate (PointInTPtr & in, PointInTPtr & processed,
                 std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<pcl::PointCloud<FeatureT> > > & signatures,
-                std::vector<Eigen::Vector3f> & centroids)
+                std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
       {
 
         if (!feature_estimator_)

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/cvfh_estimator.h

@@ -53,7 +53,7 @@ namespace pcl
       void
       estimate (PointInTPtr & in, PointInTPtr & processed,
                 typename pcl::PointCloud<FeatureT>::CloudVectorType & signatures,
-                std::vector<Eigen::Vector3f> & centroids)
+                std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
       {
 
         if (!normal_estimator_)

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/esf_estimator.h

@@ -25,7 +25,7 @@ namespace pcl
         void
         estimate (PointInTPtr & in, PointInTPtr & processed,
                   typename pcl::PointCloud<FeatureT>::CloudVectorType & signatures,
-                  std::vector<Eigen::Vector3f> & centroids)
+                  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
         {
 
           typedef typename pcl::ESFEstimation<PointInT, FeatureT> ESFEstimation;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h

@@ -28,7 +28,7 @@ namespace pcl
       public:
         virtual void
         estimate (PointInTPtr & in, PointInTPtr & processed, std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<
-            pcl::PointCloud<FeatureT> > > & signatures, std::vector<Eigen::Vector3f> & centroids)=0;
+            pcl::PointCloud<FeatureT> > > & signatures, std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)=0;
 
         virtual bool computedNormals() = 0;
 

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/ourcvfh_estimator.h

@@ -81,7 +81,7 @@ namespace pcl
 
         virtual void
         estimate (PointInTPtr & in, PointInTPtr & processed, typename pcl::PointCloud<FeatureT>::CloudVectorType & signatures,
-                  std::vector<Eigen::Vector3f> & centroids)
+                  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
         {
 
           valid_roll_transforms_.clear ();

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/vfh_estimator.h

@@ -28,7 +28,7 @@ namespace pcl
         void
         estimate (PointInTPtr & in, PointInTPtr & processed,
                   typename pcl::PointCloud<FeatureT>::CloudVectorType & signatures,
-                  std::vector<Eigen::Vector3f> & centroids)
+                  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
         {
 
           if (!normal_estimator_)

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/registered_views_source.h

@@ -100,7 +100,7 @@ namespace pcl
         }
 
         void
-        assembleModelFromViewsAndPoses(ModelT & model, std::vector<Eigen::Matrix4f> & poses) {
+        assembleModelFromViewsAndPoses(ModelT & model, std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > & poses) {
           for(size_t i=0; i < model.views_->size(); i++) {
             Eigen::Matrix4f inv = poses[i];
             typename pcl::PointCloud<PointInT>::Ptr global_cloud(new pcl::PointCloud<PointInT>);
@@ -159,7 +159,7 @@ namespace pcl
               }
             }
 
-            std::vector<Eigen::Matrix4f> poses_to_assemble_;
+            std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > poses_to_assemble_;
 
             for (size_t i = 0; i < view_filenames.size (); i++)
             {

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp

@@ -83,7 +83,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
     PointInTPtr in (new pcl::PointCloud<PointInT>);
 
     typename pcl::PointCloud<FeatureT>::CloudVectorType signatures;
-    std::vector < Eigen::Vector3f > centroids;
+    std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
 
     if (indices_.size ())
     {
@@ -187,7 +187,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
           PointInTPtr processed (new pcl::PointCloud<PointInT>);
           //pro view, compute signatures
           typename pcl::PointCloud<FeatureT>::CloudVectorType signatures;
-          std::vector < Eigen::Vector3f > centroids;
+          std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
           estimator_->estimate (models->at (i).views_->at (v), processed, signatures, centroids);
 
           //source_->makeModelPersistent (models->at (i), training_dir_, descr_name_, static_cast<int> (v));

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -171,7 +171,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
     PointInTPtr in (new pcl::PointCloud<PointInT>);
 
     std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<pcl::PointCloud<FeatureT> > > signatures;
-    std::vector < Eigen::Vector3f > centroids;
+    std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
 
     if (indices_.size ())
       pcl::copyPointCloud (*input_, indices_, *in);
@@ -442,7 +442,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
 
           //pro view, compute signatures and CRH
           std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<pcl::PointCloud<FeatureT> > > signatures;
-          std::vector < Eigen::Vector3f > centroids;
+          std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
           crh_estimator_->estimate (view, processed, signatures, centroids);
 
           std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -236,7 +236,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
     PointInTPtr in (new pcl::PointCloud<PointInT>);
 
     std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<pcl::PointCloud<FeatureT> > > signatures;
-    std::vector < Eigen::Vector3f > centroids;
+    std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
 
     if (indices_.size ())
       pcl::copyPointCloud (*input_, indices_, *in);
@@ -669,7 +669,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
 
           //pro view, compute signatures
           std::vector<pcl::PointCloud<FeatureT>, Eigen::aligned_allocator<pcl::PointCloud<FeatureT> > > signatures;
-          std::vector < Eigen::Vector3f > centroids;
+          std::vector < Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > centroids;
           micvfh_estimator_->estimate (view, processed, signatures, centroids);
 
           std::vector<bool> valid_trans;

apps/CMakeLists.txt

@@ -2,25 +2,6 @@ set(SUBSYS_NAME apps)
 set(SUBSYS_DESC "Application examples/samples that show how PCL works")
 set(SUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition ml stereo)
 
-# Find VTK
-if(NOT VTK_FOUND)
-    set(DEFAULT FALSE)
-    set(REASON "VTK was not found.")
-else(NOT VTK_FOUND)
-    set(DEFAULT TRUE)
-    set(REASON)
-    include("${VTK_USE_FILE}")
-endif(NOT VTK_FOUND)
-
-# OpenNI found?
-if(NOT OPENNI_FOUND)
-    set(DEFAULT FALSE)
-    set(REASON "OpenNI was not found.")
-else(NOT OPENNI_FOUND)
-    set(DEFAULT TRUE)
-    set(REASON)
-endif(NOT OPENNI_FOUND)
-
 set(DEFAULT FALSE)
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
 PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni vtk)
@@ -47,6 +28,12 @@ if(build)
   endif(LIBUSB_1_FOUND)
 
   if (VTK_FOUND)
+
+    include("${VTK_USE_FILE}")
+
+    set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h")
+    set(srcs "src/render_views_tesselated_sphere.cpp")
+
     PCL_ADD_EXECUTABLE(pcl_ppf_object_recognition "${SUBSYS_NAME}" src/ppf_object_recognition.cpp)
     target_link_libraries(pcl_ppf_object_recognition pcl_common pcl_io pcl_filters pcl_features pcl_registration pcl_visualization pcl_sample_consensus pcl_segmentation)
 
@@ -180,11 +167,6 @@ if(build)
 
       endif ()
 
-      set(incs
-        include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h
-        include/pcl/${SUBSYS_NAME}/timer.h)
-      set(srcs src/render_views_tesselated_sphere.cpp)
-
       if (QHULL_FOUND)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_3d_convex_hull "${SUBSYS_NAME}" src/openni_3d_convex_hull.cpp)
         target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
@@ -195,10 +177,6 @@ if(build)
         PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_tracking "${SUBSYS_NAME}" src/openni_tracking.cpp)
         target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search)
 
-        set(incs "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h" ${incs})
-        set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp")
-        set(srcs src/dominant_plane_segmentation.cpp ${srcs})
-
       PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_planar_convex_hull "${SUBSYS_NAME}" src/openni_planar_convex_hull.cpp)
       target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface)
 
@@ -207,17 +185,6 @@ if(build)
 
       endif() # QHULL_FOUND
 
-      # Install include files
-      PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
-      PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
-
-      set(LIB_NAME "pcl_${SUBSYS_NAME}")
-      PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${impl_incs} ${incs})
-      target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
-
-      PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "" "" "" "" "")
-
-
       PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_agast "${SUBSYS_NAME}" src/ni_agast.cpp)
       target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
 
@@ -252,4 +219,20 @@ if(build)
     add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
   endforeach(subdir)
 
+  set(incs
+    "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h"
+    "include/pcl/${SUBSYS_NAME}/timer.h"
+    ${incs}
+    )
+  set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp")
+  set(srcs "src/dominant_plane_segmentation.cpp" ${srcs})
+
+  set(LIB_NAME "pcl_${SUBSYS_NAME}")
+  PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${impl_incs} ${incs})
+  target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
+  PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "" "" "" "" "")
+  # Install include files
+  PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+  PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+
 endif(build)

apps/cloud_composer/src/cloud_view.cpp

@@ -109,7 +109,6 @@ pcl::cloud_composer::CloudView::rowsInserted (const QModelIndex& parent, int sta
   {
     QStandardItem* new_item = parent_item->child(row);
     CloudComposerItem* item = dynamic_cast<CloudComposerItem*> (new_item);
-      item = dynamic_cast<CloudComposerItem*> (new_item);
     if (item)
       item->paintView (vis_);
 

apps/cloud_composer/src/cloud_viewer.cpp

@@ -66,7 +66,6 @@ pcl::cloud_composer::CloudViewer::addNewProject (ProjectModel* new_model)
 void
 pcl::cloud_composer::CloudViewer::modelChanged (int index)
 {
-  CloudView* view = static_cast<CloudView*> (this->widget (index)); view = view;
   emit newModelSelected (getModel ());
 }
 

apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp

@@ -33,9 +33,9 @@
  *
  */
 
+#ifndef Q_MOC_RUN
 #pragma once
 #include <boost/thread/thread.hpp>
-#ifndef Q_MOC_RUN
 #include <boost/date_time/posix_time/posix_time.hpp>
 #endif
 

apps/include/pcl/apps/manual_registration.h

@@ -42,7 +42,9 @@
 #include <QTimer>
 
 // Boost
+#ifndef Q_MOC_RUN
 #include <boost/thread/thread.hpp>
+#endif
 
 // PCL
 #include <pcl/console/print.h>

apps/modeler/src/scene_tree.cpp

@@ -480,7 +480,7 @@ pcl::modeler::SceneTree::dropEvent(QDropEvent * event)
   std::set<RenderWindowItem*> previous_parents;
   for (QList<CloudMeshItem*>::iterator selected_cloud_meshes_it = selected_cloud_meshes.begin();
     selected_cloud_meshes_it != selected_cloud_meshes.end();
-    selected_cloud_meshes_it ++)
+    ++ selected_cloud_meshes_it)
   {
     CloudMeshItem* cloud_mesh_item = *selected_cloud_meshes_it;
     RenderWindowItem* render_window_item = dynamic_cast<RenderWindowItem*>(cloud_mesh_item->parent());
@@ -493,7 +493,7 @@ pcl::modeler::SceneTree::dropEvent(QDropEvent * event)
   std::vector<CloudMeshItem*> cloud_mesh_items;
   for (QList<CloudMeshItem*>::iterator selected_cloud_meshes_it = selected_cloud_meshes.begin();
     selected_cloud_meshes_it != selected_cloud_meshes.end();
-    selected_cloud_meshes_it ++)
+    ++ selected_cloud_meshes_it)
   {
     CloudMeshItem* cloud_mesh_item = *selected_cloud_meshes_it;
     if (dynamic_cast<RenderWindowItem*>(cloud_mesh_item->parent()) == NULL)
@@ -515,7 +515,7 @@ pcl::modeler::SceneTree::dropEvent(QDropEvent * event)
 
   for (std::set<RenderWindowItem*>::iterator previous_parents_it = previous_parents.begin();
     previous_parents_it != previous_parents.end();
-    previous_parents_it ++)
+    ++ previous_parents_it)
   {
     (*previous_parents_it)->getRenderWindow()->updateAxes();
     (*previous_parents_it)->getRenderWindow()->render();
@@ -535,7 +535,7 @@ pcl::modeler::SceneTree::dropMimeData(QTreeWidgetItem * parent, int, const QMime
 
   for (QList<CloudMeshItem*>::iterator selected_cloud_meshes_it = selected_cloud_meshes.begin();
     selected_cloud_meshes_it != selected_cloud_meshes.end();
-    selected_cloud_meshes_it ++)
+    ++ selected_cloud_meshes_it)
   {
     CloudMeshItem* cloud_mesh_item_copy = new CloudMeshItem(render_window_item, *(*selected_cloud_meshes_it));
     render_window_item->addChild(cloud_mesh_item_copy);

apps/point_cloud_editor/src/cloud.cpp

@@ -254,15 +254,8 @@ Cloud::drawWithHighlightColor () const
 void
 Cloud::draw (bool disable_highlight) const
 {
-  SelectionPtr selection_ptr;
-  try
-  {
-    selection_ptr = selection_wk_ptr_.lock();
-  }
-  catch (boost::bad_weak_ptr)
-  {
-    selection_ptr.reset();
-  }
+  SelectionPtr selection_ptr = selection_wk_ptr_.lock();
+
   glPushAttrib(GL_CURRENT_BIT | GL_POINT_BIT | GL_COLOR_BUFFER_BIT);
   {
     glPointSize(point_size_);

apps/src/ni_agast.cpp

@@ -216,7 +216,7 @@ class AGASTDemo
       keypoints3d.height = keypoints->height;
       keypoints3d.is_dense = true;
 
-      int j = 0;
+      size_t j = 0;
       for (size_t i = 0; i < keypoints->size (); ++i)
       {
         const PointT &pt = (*cloud)(static_cast<long unsigned int> (keypoints->points[i].u), 

apps/src/ni_brisk.cpp

@@ -179,7 +179,7 @@ class BRISKDemo
       keypoints3d.height = keypoints->height;
       keypoints3d.is_dense = true;
 
-      int j = 0;
+      size_t j = 0;
       for (size_t i = 0; i < keypoints->size (); ++i)
       {
         PointT pt = bilinearInterpolation (cloud, keypoints->points[i].x, keypoints->points[i].y);

apps/src/openni_change_viewer.cpp

@@ -89,7 +89,7 @@ class OpenNIChangeViewer
           filtered_cloud.reset (new pcl::PointCloud<pcl::PointXYZRGBA> (*cloud));
           filtered_cloud->points.reserve(newPointIdxVector->size());
 
-          for (std::vector<int>::iterator it = newPointIdxVector->begin (); it != newPointIdxVector->end (); it++)
+          for (std::vector<int>::iterator it = newPointIdxVector->begin (); it != newPointIdxVector->end (); ++it)
             filtered_cloud->points[*it].rgba = 255<<16;
 
           if (!viewer.wasStopped())
@@ -101,7 +101,7 @@ class OpenNIChangeViewer
 
           filtered_cloud->points.reserve(newPointIdxVector->size());
 
-          for (std::vector<int>::iterator it = newPointIdxVector->begin (); it != newPointIdxVector->end (); it++)
+          for (std::vector<int>::iterator it = newPointIdxVector->begin (); it != newPointIdxVector->end (); ++it)
             filtered_cloud->points.push_back(cloud->points[*it]);
 
 

apps/src/openni_tracking.cpp

@@ -449,7 +449,7 @@ class OpenNISegmentTracking
   }
 
   void addNormalToCloud (const CloudConstPtr &cloud,
-                         const pcl::PointCloud<pcl::Normal>::ConstPtr &normals,
+                         const pcl::PointCloud<pcl::Normal>::ConstPtr &,
                          RefCloud &result)
   {
     result.width = cloud->width;