Prefer lambdas over binds

tools/davidsdk_viewer.cpp

@@ -93,8 +93,7 @@ main (int argc,
   //davidsdk_ptr->setFileFormatToPLY();
   std::cout << "Using " << davidsdk_ptr->getFileFormat () << " file format" << std::endl;
 
-  std::function<void
-  (const PointCloudXYZ::Ptr&)> f = boost::bind (&grabberCallback, _1);
+  std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
   davidsdk_ptr->registerCallback (f);
   davidsdk_ptr->start ();
 

tools/depth_sense_viewer.cpp

@@ -140,7 +140,10 @@ class DepthSenseViewer
     void
     run ()
     {
-      std::function<void (const typename PointCloudT::ConstPtr&)> f = boost::bind (&DepthSenseViewer::cloudCallback, this, _1);
+      std::function<void (const typename PointCloudT::ConstPtr&)> f = [this] (const typename PointCloudT::ConstPtr& cloud)
+      {
+        cloudCallback (cloud);
+      };
       connection_ = grabber_.registerCallback (f);
       grabber_.start ();
       while (!viewer_.wasStopped ())

tools/ensenso_viewer.cpp

@@ -76,8 +76,7 @@ main (void)
   ensenso_ptr->openTcpPort ();
   ensenso_ptr->openDevice ();
 
-  std::function<void
-  (const PointCloudXYZ::Ptr&)> f = boost::bind (&grabberCallback, _1);
+  std::function<void (const PointCloudXYZ::Ptr&)> f = [] (const PointCloudXYZ::Ptr& cloud) { grabberCallback (cloud); };
   ensenso_ptr->registerCallback (f);
   ensenso_ptr->start ();
 

tools/hdl_viewer_simple.cpp

@@ -148,8 +148,7 @@ class SimpleHDLViewer
       cloud_viewer_->setCameraPosition (0.0, 0.0, 30.0, 0.0, 1.0, 0.0, 0);
       cloud_viewer_->setCameraClipDistances (0.0, 50.0);
 
-      std::function<void (const CloudConstPtr&)> cloud_cb = boost::bind (
-          &SimpleHDLViewer::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&)> cloud_cb = [this] (const CloudConstPtr& cloud) { cloud_callback (cloud); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (
           cloud_cb);
 

tools/image_grabber_saver.cpp

@@ -133,7 +133,10 @@ main (int argc, char** argv)
   //grabber->setFocalLength(focal_length); // FIXME
 
   EventHelper h;
-  std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = boost::bind (&EventHelper::cloud_cb, &h, _1);
+  std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = [&] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
+  {
+    h.cloud_cb (cloud);
+  };
   boost::signals2::connection c1 = grabber->registerCallback (f);
 
   do

tools/image_grabber_viewer.cpp

@@ -222,7 +222,10 @@ main (int argc, char** argv)
 
 
   EventHelper h;
-  std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = boost::bind (&EventHelper::cloud_cb, &h, _1);
+  std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = [&] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr & cloud)
+  {
+    h.cloud_cb (cloud);
+  };
   boost::signals2::connection c1 = grabber->registerCallback (f);
 
   std::string mouse_msg_3D ("Mouse coordinates in PCL Visualizer");

tools/oni2pcd.cpp

@@ -83,7 +83,7 @@ main (int argc, char **argv)
   }
 
   pcl::ONIGrabber* grabber = new pcl::ONIGrabber (argv[1], false, false);
-  std::function<void (const CloudConstPtr&) > f = boost::bind (&cloud_cb, _1);
+  std::function<void (const CloudConstPtr&) > f = [] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
   boost::signals2::connection c = grabber->registerCallback (f);
 
   while (grabber->hasDataLeft ())

tools/oni_viewer_simple.cpp

@@ -122,7 +122,7 @@ class SimpleONIViewer
   {
     //pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id_, pcl::OpenNIGrabber::OpenNI_QQVGA_30Hz, pcl::OpenNIGrabber::OpenNI_VGA_30Hz);
 
-    std::function<void (const CloudConstPtr&) > f = boost::bind (&SimpleONIViewer::cloud_cb_, this, _1);
+    std::function<void (const CloudConstPtr&) > f = [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };
 
     boost::signals2::connection c = grabber_.registerCallback (f);
 
@@ -192,7 +192,7 @@ main(int argc, char ** argv)
   {
     grabber = new  pcl::ONIGrabber(arg, true, false);
     trigger.setInterval (1.0 / static_cast<double> (frame_rate));
-    trigger.registerCallback (boost::bind(&pcl::ONIGrabber::start, grabber));
+    trigger.registerCallback ([=] { grabber->start (); });
     trigger.start();
   }
   if (grabber->providesCallback<pcl::ONIGrabber::sig_cb_openni_point_cloud_rgb > () && !pcl::console::find_switch (argc, argv, "-xyz"))

tools/openni2_viewer.cpp

@@ -177,7 +177,7 @@ class OpenNI2Viewer
     cloud_viewer_->registerMouseCallback (&OpenNI2Viewer::mouse_callback, *this);
     cloud_viewer_->registerKeyboardCallback (&OpenNI2Viewer::keyboard_callback, *this);
     cloud_viewer_->setCameraFieldOfView (1.02259994f);
-    std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNI2Viewer::cloud_callback, this, _1);
+    std::function<void (const CloudConstPtr&) > cloud_cb = [this] (const CloudConstPtr& cloud) { cloud_callback (cloud); };
     boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
     boost::signals2::connection image_connection;
@@ -186,7 +186,7 @@ class OpenNI2Viewer
       image_viewer_.reset (new pcl::visualization::ImageViewer ("PCL OpenNI image"));
       image_viewer_->registerMouseCallback (&OpenNI2Viewer::mouse_callback, *this);
       image_viewer_->registerKeyboardCallback (&OpenNI2Viewer::keyboard_callback, *this);
-      std::function<void (const boost::shared_ptr<pcl::io::openni2::Image>&) > image_cb = boost::bind (&OpenNI2Viewer::image_callback, this, _1);
+      std::function<void (const pcl::io::openni2::Image::Ptr&)> image_cb = [this] (const pcl::io::openni2::Image::Ptr& img) { image_callback (img); };
       image_connection = grabber_.registerCallback (image_cb);
     }
 

tools/openni_image.cpp

@@ -414,7 +414,12 @@ class Driver
     void 
     grabAndSend ()
     {
-      std::function<void (const boost::shared_ptr<openni_wrapper::Image>&, const boost::shared_ptr<openni_wrapper::DepthImage>&, float) > image_cb = boost::bind (&Driver::image_callback, this, _1, _2, _3);
+      std::function<
+        void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float)
+      > image_cb = [this] (const openni_wrapper::Image::Ptr& img, const openni_wrapper::DepthImage::Ptr& depth, float f)
+      {
+        image_callback (img, depth, f);
+      };
       boost::signals2::connection image_connection = grabber_.registerCallback (image_cb);
 
       grabber_.start ();

tools/openni_save_image.cpp

@@ -104,7 +104,12 @@ class SimpleOpenNIViewer
     void
     run ()
     {
-      std::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float) > image_cb = boost::bind (&SimpleOpenNIViewer::image_callback, this, _1, _2, _3);
+      std::function<
+        void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float)
+      > image_cb = [this] (const openni_wrapper::Image::Ptr& img, const openni_wrapper::DepthImage::Ptr& depth, float f)
+      {
+        image_callback (img, depth, f);
+      };
       boost::signals2::connection image_connection = grabber_.registerCallback (image_cb);
 
       grabber_.start ();

tools/openni_viewer.cpp

@@ -174,7 +174,7 @@ class OpenNIViewer
     {
       cloud_viewer_->registerMouseCallback (&OpenNIViewer::mouse_callback, *this);
       cloud_viewer_->registerKeyboardCallback(&OpenNIViewer::keyboard_callback, *this);
-      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNIViewer::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&)> cloud_cb = [this] (const CloudConstPtr& cloud) { cloud_callback (cloud); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
       boost::signals2::connection image_connection;
@@ -183,7 +183,7 @@ class OpenNIViewer
         image_viewer_.reset (new pcl::visualization::ImageViewer ("PCL OpenNI image"));
         image_viewer_->registerMouseCallback (&OpenNIViewer::mouse_callback, *this);
         image_viewer_->registerKeyboardCallback(&OpenNIViewer::keyboard_callback, *this);
-        std::function<void (const boost::shared_ptr<openni_wrapper::Image>&) > image_cb = boost::bind (&OpenNIViewer::image_callback, this, _1);
+        std::function<void (const openni_wrapper::Image::Ptr&)> image_cb = [this] (const openni_wrapper::Image::Ptr& img) { image_callback (img); };
         image_connection = grabber_.registerCallback (image_cb);
       }
 

tools/openni_viewer_simple.cpp

@@ -172,7 +172,7 @@ class SimpleOpenNIViewer
       string keyMsg3D("Key event for PCL Visualizer");
       cloud_viewer_.registerMouseCallback (&SimpleOpenNIViewer::mouse_callback, *this, (void*)(&mouseMsg3D));    
       cloud_viewer_.registerKeyboardCallback(&SimpleOpenNIViewer::keyboard_callback, *this, (void*)(&keyMsg3D));
-      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&SimpleOpenNIViewer::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&)> cloud_cb = [this] (const CloudConstPtr& cloud) { cloud_callback (cloud); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
       boost::signals2::connection image_connection;
@@ -182,7 +182,7 @@ class SimpleOpenNIViewer
           string keyMsg2D("Key event for image viewer");
           image_viewer_.registerMouseCallback (&SimpleOpenNIViewer::mouse_callback, *this, (void*)(&mouseMsg2D));
           image_viewer_.registerKeyboardCallback(&SimpleOpenNIViewer::keyboard_callback, *this, (void*)(&keyMsg2D));
-          std::function<void (const boost::shared_ptr<openni_wrapper::Image>&) > image_cb = boost::bind (&SimpleOpenNIViewer::image_callback, this, _1);
+          std::function<void (const openni_wrapper::Image::Ptr&)> image_cb = [this] (const openni_wrapper::Image::Ptr& img) { image_callback (img); };
           image_connection = grabber_.registerCallback (image_cb);
       }
       unsigned char* rgb_data = 0;

tools/pcd_grabber_viewer.cpp

@@ -211,7 +211,10 @@ main (int argc, char** argv)
   }
 
   EventHelper h;
-  std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) > f = boost::bind (&EventHelper::cloud_cb, &h, _1);
+  std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = [&] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud)
+  {
+    h.cloud_cb (cloud);
+  };
   boost::signals2::connection c1 = grabber->registerCallback (f);
 
   std::string mouse_msg_3D ("Mouse coordinates in PCL Visualizer");

tools/pcl_video.cpp

@@ -191,8 +191,9 @@ class Recorder
             // Set up a callback to get clouds from a grabber and write them to the
             // file.
             pcl::Grabber* interface(new pcl::OpenNIGrabber());
-            std::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f(
-                    boost::bind(&Recorder::Callback, this, _1));
+            std::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f (
+                [this] (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&) { Callback (cloud); }
+            );
             interface->registerCallback(f);
             // Start the first cluster
             cltr_start_ = bpt::microsec_clock::local_time();

tools/real_sense_viewer.cpp

@@ -170,7 +170,7 @@ class RealSenseViewer
     void
     run ()
     {
-      std::function<void (const typename PointCloudT::ConstPtr&)> f = boost::bind (&RealSenseViewer::cloudCallback, this, _1);
+      std::function<void (const typename PointCloudT::ConstPtr&)> f = [this] (const typename PointCloudT::ConstPtr& cloud) { cloudCallback (cloud); };
       connection_ = grabber_.registerCallback (f);
       grabber_.start ();
       printMode (grabber_.getMode ());

tools/timed_trigger_test.cpp

@@ -39,7 +39,7 @@ int main ()
   global_time = pcl::getTime ();
   trigger.start ();
   std::this_thread::sleep_for(2s);
-  trigger.registerCallback ( boost::bind(&Dummy::myTimer, dummy));
+  trigger.registerCallback ([&]{ dummy.myTimer (); });
   std::this_thread::sleep_for(3s);
   trigger.setInterval (0.2);
   std::this_thread::sleep_for(2s);

tools/vlp_viewer.cpp

@@ -160,8 +160,7 @@ class SimpleVLPViewer
       cloud_viewer_->setCameraClipDistances (0.0, 50.0);
       cloud_viewer_->registerKeyboardCallback (&SimpleVLPViewer::keyboard_callback, *this);
 
-      std::function<void
-      (const CloudConstPtr&)> cloud_cb = boost::bind (&SimpleVLPViewer::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&)> cloud_cb = [this] (const CloudConstPtr& cloud){ cloud_callback (cloud); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
       grabber_.start ();