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Provide dynamic and static pointer casts in pcl namespace to allow easy migration from boost to std smart pointers #3770

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merged 8 commits into from
Apr 16, 2020
Merged

Provide dynamic and static pointer casts in pcl namespace to allow easy migration from boost to std smart pointers #3770

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f49d25d
unqualify boost::dynamic_pointer_cast for switch to std::
aPonza Mar 22, 2020
d84deb1
unqualify boost::static_pointer_cast for switch to std::
aPonza Mar 22, 2020
8715e86
missing include
aPonza Mar 22, 2020
5550f87
fix ADL
aPonza Mar 23, 2020
02277d7
force ADL when not in pcl:: namespace
aPonza Mar 23, 2020
2210879
I wasn't building tutorials locally, force ADL when not in pcl:: name…
aPonza Mar 23, 2020
0793bf0
have consistent using declarations
aPonza Mar 23, 2020
e1bbd58
change from unqualified to qualified for three instances
aPonza Mar 23, 2020
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5 changes: 3 additions & 2 deletions apps/src/feature_matching.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/keypoints/sift_keypoint.h>
#include <pcl/keypoints/harris_3d.h>
#include <pcl/memory.h> // for pcl::dynamic_pointer_cast
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
Expand Down Expand Up @@ -245,13 +246,13 @@ void ICCVTutorial<FeatureType>::extractDescriptors (typename pcl::PointCloud<pcl

pcl::copyPointCloud(*keypoints, *kpts);

typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType>::Ptr feature_from_normals = boost::dynamic_pointer_cast<pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_);
typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType>::Ptr feature_from_normals = pcl::dynamic_pointer_cast<pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_);

feature_extractor_->setSearchSurface(input);
feature_extractor_->setInputCloud(kpts);

if (feature_from_normals)
//if (boost::dynamic_pointer_cast<typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_))
//if (pcl::dynamic_pointer_cast<typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_))
{
std::cout << "normal estimation..." << std::flush;
typename pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
Expand Down
7 changes: 6 additions & 1 deletion apps/src/organized_segmentation_demo.cpp
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Expand Up @@ -6,11 +6,16 @@
#include <QEvent>
#include <QObject>

#include <pcl/memory.h> // for pcl::dynamic_pointer_cast
#include <pcl/segmentation/extract_polygonal_prism_data.h>
#include <pcl/surface/convex_hull.h>

#include <vtkRenderWindow.h>

// #include <boost/filesystem.hpp> // for boost::filesystem::directory_iterator
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#include <boost/signals2/connection.hpp> // for boost::signals2::connection


void
displayPlanarRegions (std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > &regions,
const pcl::visualization::PCLVisualizer::Ptr& viewer)
Expand Down Expand Up @@ -276,7 +281,7 @@ OrganizedSegmentationDemo::cloud_cb (const CloudConstPtr& cloud)
ne.setInputCloud (cloud);
ne.compute (*normal_cloud);
float* distance_map = ne.getDistanceMap ();
pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal>::Ptr eapc = boost::dynamic_pointer_cast<pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal> >(edge_aware_comparator_);
pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal>::Ptr eapc = pcl::dynamic_pointer_cast<pcl::EdgeAwarePlaneComparator<PointT, pcl::Normal> >(edge_aware_comparator_);
eapc->setDistanceMap (distance_map);
eapc->setDistanceThreshold (0.01f, false);

Expand Down
13 changes: 9 additions & 4 deletions common/include/pcl/memory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@


#include <boost/make_shared.hpp> // for boost::allocate_shared, boost::make_shared
#include <boost/pointer_cast.hpp> // for boost::dynamic_pointer_cast, boost::static_pointer_cast
#include <boost/smart_ptr/shared_ptr.hpp> // for boost::shared_ptr

#include <Eigen/Core> // for EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Expand All @@ -70,15 +71,19 @@
namespace pcl
{
/**
* \brief Alias for boost::shared_ptr
* \brief Force ADL for `shared_ptr`
*
* For ease of switching from boost::shared_ptr to std::shared_ptr
*
* \see pcl::make_shared
* \tparam T Type of the object stored inside the shared_ptr
*/
template <typename T>
using shared_ptr = boost::shared_ptr<T>;
using boost::shared_ptr;

/** ADL doesn't work until C++20 for dynamic_pointer_cast since it requires an explicit Tparam */
using boost::dynamic_pointer_cast;
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/** ADL doesn't work until C++20 for static_pointer_cast since it requires an explicit Tparam */
using boost::static_pointer_cast;


template <typename ...> using void_t = void; // part of std in c++17
Expand Down
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