Adding emplace methods to pcl::PointCloud

[Morwenn]

Since PCL seems to be moving toward C++14 it could be a good opportunity to add the methods emplace and emplace_back to pcl::PointCloud to take advantage of the C++11 additions to std::vector.

Your Environment

• PCL Version: 1.9.1

Context

I had to interface PCL with another type of 3D points, and writing the following to convert between both would have been nice to ensure that everything in written in-place:

pcl::PointCloud<pcl::PointXYZ> out;
out.reserve(legacy_point_collection.size());
for (auto&& point : legacy_point_collection) {
    out.emplace_back(point.getX(), point.getY(), point.getZ());
}

Currently the solution is to use push_back, which is fine, but exposing the emplace family of functions would allow for terser code with an in-place construction guarantee even in debug mode.

[taketwo]

That should be a fairly trivial patch. Contributions welcome!

[Morwenn]

Sure, I will try to implement that properly.