Merge branch 'master' into pcl_make_shared

2d/include/pcl/2d/edge.h

@@ -48,8 +48,8 @@ namespace pcl
   class Edge
   {
     private:
-      typedef pcl::PointCloud<PointInT> PointCloudIn;
-      typedef typename PointCloudIn::Ptr PointCloudInPtr;
+      using PointCloudIn = pcl::PointCloud<PointInT>;
+      using PointCloudInPtr = typename PointCloudIn::Ptr;
 
       PointCloudInPtr input_;
       pcl::Convolution<PointInT> convolution_;
@@ -84,8 +84,8 @@ namespace pcl
                          pcl::PointCloud<pcl::PointXYZI> &maxima, float tLow);
 
     public:
-      typedef boost::shared_ptr<Edge> Ptr;
-      typedef boost::shared_ptr<const Edge> ConstPtr;
+      using Ptr = boost::shared_ptr<Edge<PointInT, PointOutT> >;
+      using ConstPtr = boost::shared_ptr<const Edge<PointInT, PointOutT> >;
 
       enum OUTPUT_TYPE
       {

2d/include/pcl/2d/morphology.h

@@ -45,8 +45,8 @@ namespace pcl
   class Morphology : public PCLBase<PointT>
   {
     private:
-      typedef pcl::PointCloud<PointT> PointCloudIn;
-      typedef typename PointCloudIn::Ptr PointCloudInPtr;
+      using PointCloudIn = pcl::PointCloud<PointT>;
+      using PointCloudInPtr = typename PointCloudIn::Ptr;
 
       PointCloudInPtr structuring_element_;
 

CMakeLists.txt

@@ -112,10 +112,6 @@ if(CMAKE_COMPILER_IS_GNUCXX)
     set(CMAKE_CXX_FLAGS "-Wabi -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion ${SSE_FLAGS_STR}")
   endif()
 
-  if(NOT ANDROID)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
-  endif()
-
   if("${CMAKE_SHARED_LINKER_FLAGS}" STREQUAL "" AND NOT CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--as-needed")
   endif()
@@ -179,7 +175,7 @@ endif()
 
 if(CMAKE_COMPILER_IS_PATHSCALE)
   if("${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
-    set(CMAKE_CXX_FLAGS "-Wno-uninitialized -zerouv -pthread -mp")
+    set(CMAKE_CXX_FLAGS "-Wno-uninitialized -zerouv -mp")
   endif()
   if("${CMAKE_SHARED_LINKER_FLAGS}" STREQUAL "")
     set(CMAKE_SHARED_LINKER_FLAGS "-mp")
@@ -280,6 +276,9 @@ else()
   message(STATUS "Not found OpenMP")
 endif()
 
+# Threads (required)
+find_package(Threads REQUIRED)
+
 # Eigen (required)
 find_package(Eigen 3.1 REQUIRED)
 include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
@@ -421,12 +420,6 @@ configure_file("${pcl_config_h_in}" "${pcl_config_h}")
 PCL_ADD_INCLUDES(common "" "${pcl_config_h}")
 include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
 
-### ---[ Set up for tests
-enable_testing()
-
-### ---[ Set up for examples
-#include("${PCL_SOURCE_DIR}/cmake/pcl_examples.cmake")
-
 ### ---[ Add the libraries subdirectories
 include("${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake")
 

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

@@ -12,9 +12,11 @@
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h>
-#include <boost/function.hpp>
+
 #include <vtkTransformPolyDataFilter.h>
 
+#include <functional>
+
 namespace pcl
 {
   namespace rec_3d_framework
@@ -42,7 +44,7 @@ namespace pcl
         float radius_sphere_;
         float view_angle_;
         bool gen_organized_;
-        boost::function<bool
+        std::function<bool
         (const Eigen::Vector3f &)> campos_constraints_func_;
 
       public:
@@ -62,7 +64,7 @@ namespace pcl
         }
 
         void
-        setCamPosConstraints (boost::function<bool
+        setCamPosConstraints (std::function<bool
         (const Eigen::Vector3f &)> & bb)
         {
           campos_constraints_func_ = bb;

apps/3d_rec_framework/src/tools/global_classification.cpp

@@ -30,7 +30,7 @@ segmentAndClassify (typename pcl::rec_3d_framework::GlobalNNPipeline<DistT, Poin
   pcl::visualization::PCLVisualizer vis ("kinect");
 
   //keyboard callback to stop getting frames and finalize application
-  boost::function<void
+  std::function<void
   (const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera, _1);
   vis.registerKeyboardCallback (keyboard_cb);
   size_t previous_cluster_size = 0;

apps/3d_rec_framework/src/tools/openni_frame_source.cpp

@@ -8,7 +8,7 @@ namespace OpenNIFrameSource
   OpenNIFrameSource::OpenNIFrameSource (const std::string& device_id) :
     grabber_ (device_id), frame_counter_ (0), active_ (true)
   {
-    boost::function<void
+    std::function<void
     (const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
     grabber_.registerCallback (frame_cb);
     grabber_.start ();

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h

@@ -44,9 +44,7 @@
 #  pragma GCC system_header
 #endif
 
-#include <boost/unordered_map.hpp>
 #include <boost/bind/bind.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/signals2/connection.hpp>
-#include <boost/type_traits/is_same.hpp>

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/common_types.h

@@ -83,7 +83,7 @@ namespace pcl
       typedef pcl::geometry::NoData HalfEdgeData;
       typedef pcl::geometry::NoData EdgeData;
       typedef pcl::geometry::NoData FaceData;
-      typedef boost::true_type      IsManifold;
+      typedef std::true_type      IsManifold;
     };
 
     // NOTE: The drawMesh method in pcl::ihs::InHandScanner only supports triangles!

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h

@@ -52,6 +52,7 @@
 #include <mutex>
 #include <iomanip>
 #include <string>
+#include <unordered_map>
 
 namespace pcl
 {
@@ -331,7 +332,7 @@ namespace pcl
         typedef Eigen::Matrix <unsigned char, 3, Eigen::Dynamic> Colors;
         typedef Eigen::Matrix <unsigned char, 3, 256           > Colormap;
 
-        typedef boost::unordered_map <std::string, CloudXYZRGBNormalPtr> CloudXYZRGBNormalMap;
+        typedef std::unordered_map <std::string, CloudXYZRGBNormalPtr> CloudXYZRGBNormalMap;
 
         typedef pcl::ihs::PointIHS         PointIHS;
         typedef pcl::ihs::CloudIHS         CloudIHS;
@@ -341,7 +342,7 @@ namespace pcl
         typedef pcl::ihs::detail::FaceVertexMesh                      FaceVertexMesh;
         typedef boost::shared_ptr <      FaceVertexMesh>              FaceVertexMeshPtr;
         typedef boost::shared_ptr <const FaceVertexMesh>              FaceVertexMeshConstPtr;
-        typedef boost::unordered_map <std::string, FaceVertexMeshPtr> FaceVertexMeshMap;
+        typedef std::unordered_map <std::string, FaceVertexMeshPtr> FaceVertexMeshMap;
 
         /** \brief Check if the mesh with the given id is added.
           * \note Must lock the mutex before calling this method.

apps/in_hand_scanner/src/in_hand_scanner.cpp

@@ -483,7 +483,7 @@ pcl::ihs::InHandScanner::startGrabberImpl ()
   lock.lock ();
   if (destructor_called_) return;
 
-  boost::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
+  std::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
   new_data_connection_ = grabber_->registerCallback (new_data_cb);
   grabber_->start ();
 

apps/include/pcl/apps/organized_segmentation_demo.h

@@ -1,15 +1,15 @@
 /*
  * Software License Agreement (BSD License)
- * 
+ *
  * Point Cloud Library (PCL) - www.pointclouds.org
  * Copyright (c) 2012-, Open Perception, Inc.
- * 
+ *
  * All rights reserved.
- * 
+ *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
- * are met: 
- * 
+ * are met:
+ *
  *  * Redistributions of source code must retain the above copyright
  *    notice, this list of conditions and the following disclaimer.
  *  * Redistributions in binary form must reproduce the above
@@ -19,7 +19,7 @@
  *  * Neither the name of the copyright holder(s) nor the names of its
  *    contributors may be used to endorse or promote products derived
  *    from this software without specific prior written permission.
- * 
+ *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -89,7 +89,7 @@ class OrganizedSegmentationDemo : public QMainWindow
     typedef pcl::PointCloud<PointT> Cloud;
     typedef Cloud::Ptr CloudPtr;
     typedef Cloud::ConstPtr CloudConstPtr;
-  
+
 
     OrganizedSegmentationDemo(pcl::Grabber& grabber);
 
@@ -98,9 +98,9 @@ class OrganizedSegmentationDemo : public QMainWindow
       if(grabber_.isRunning())
         grabber_.stop();
     }
-  
+
     void cloud_cb (const CloudConstPtr& cloud);
-  
+
   protected:
     pcl::visualization::PCLVisualizer::Ptr vis_;
     pcl::Grabber& grabber_;
@@ -113,9 +113,9 @@ class OrganizedSegmentationDemo : public QMainWindow
     pcl::PointCloud<pcl::Normal> prev_normals_;
     std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > prev_regions_;
     float* prev_distance_map_;
-    
+
     pcl::PointCloud<PointT>::CloudVectorType prev_clusters_;
-    
+
     pcl::IntegralImageNormalEstimation<PointT, pcl::Normal> ne;
     pcl::OrganizedMultiPlaneSegmentation<PointT, pcl::Normal, pcl::Label> mps;
 
@@ -148,16 +148,16 @@ class OrganizedSegmentationDemo : public QMainWindow
     void useEuclideanComparatorPressed ();
     void useRGBComparatorPressed ();
     void useEdgeAwareComparatorPressed ();
-    
+
     void displayCurvaturePressed ();
     void displayDistanceMapPressed ();
     void displayNormalsPressed ();
-                                 
+
     void disableRefinementPressed ()
     {
       use_planar_refinement_ = false;
     }
-    
+
     void usePlanarRefinementPressed ()
     {
       use_planar_refinement_ = true;
@@ -172,7 +172,7 @@ class OrganizedSegmentationDemo : public QMainWindow
     {
       use_clustering_ = true;
     }
-    
+
 
   private Q_SLOTS:
   void

apps/include/pcl/apps/render_views_tesselated_sphere.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
+#include <pcl/common/common.h>
+
 #include <vtkSmartPointer.h>
 #include <vtkPolyData.h>
-#include <pcl/common/common.h>
-#include <boost/function.hpp>
+
+#include <functional>
 
 namespace pcl
 {
@@ -37,7 +39,7 @@ namespace pcl
       bool compute_entropy_;
       vtkSmartPointer<vtkPolyData> polydata_;
       bool gen_organized_;
-      boost::function<bool
+      std::function<bool
       (const Eigen::Vector3f &)> campos_constraints_func_;
 
       struct camPosConstraintsAllTrue
@@ -64,7 +66,7 @@ namespace pcl
       }
 
       void
-      setCamPosConstraints (boost::function<bool (const Eigen::Vector3f &)> & bb)
+      setCamPosConstraints (std::function<bool (const Eigen::Vector3f &)> & bb)
       {
         campos_constraints_func_ = bb;
       }

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudEditorWidget.h

@@ -40,15 +40,17 @@
 
 #pragma once
 
-#include <QGLWidget>
-#include <boost/function.hpp>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 #include <pcl/apps/point_cloud_editor/common.h>
 #include <pcl/apps/point_cloud_editor/commandQueue.h>
 #include <pcl/apps/point_cloud_editor/denoiseParameterForm.h>
 #include <pcl/apps/point_cloud_editor/statisticsDialog.h>
 #include <pcl/apps/point_cloud_editor/toolInterface.h>
 
+#include <QGLWidget>
+
+#include <functional>
+
 /// @brief class declaration for the widget for editing and viewing
 /// point clouds.
 class CloudEditorWidget : public QGLWidget
@@ -251,7 +253,7 @@ class CloudEditorWidget : public QGLWidget
         return lhs.compare(rhs) < 0;
       }
     };
-    typedef boost::function<void (CloudEditorWidget*, const std::string&)>
+    typedef std::function<void (CloudEditorWidget*, const std::string&)>
       FileLoadFunc;
     typedef std::map<std::string, FileLoadFunc, ExtCompare> FileLoadMap;
     /// a map of file type extensions to loader functions.
@@ -301,7 +303,7 @@ class CloudEditorWidget : public QGLWidget
     /// A flag indicates whether the cloud is initially colored or not.
     bool is_colored_;
 
-    typedef boost::function<void (CloudEditorWidget*)> KeyMapFunc;
+    typedef std::function<void (CloudEditorWidget*)> KeyMapFunc;
     /// map between pressed key and the corresponding functor
     std::map<int, KeyMapFunc> key_map_;
 

apps/src/dinast_grabber_example.cpp

@@ -74,7 +74,7 @@ class DinastProcessor
     run ()
     {
 
-      boost::function<void (const CloudConstPtr&)> f =
+      std::function<void (const CloudConstPtr&)> f =
         boost::bind (&DinastProcessor::cloud_cb_, this, _1);
 
       boost::signals2::connection c = interface.registerCallback (f);

apps/src/face_detection/openni_face_detection.cpp

@@ -21,7 +21,7 @@ void run(pcl::RFFaceDetectorTrainer & fdrf, bool heat_map = false, bool show_vot
   vis.addCoordinateSystem (0.1, "global");
 
   //keyboard callback to stop getting frames and finalize application
-  boost::function<void(const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera,
+  std::function<void(const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera,
       _1);
   vis.registerKeyboardCallback (keyboard_cb);
 

apps/src/face_detection/openni_frame_source.cpp

@@ -8,7 +8,7 @@ namespace OpenNIFrameSource
   OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id) :
       grabber_ (device_id), frame_counter_ (0), active_ (true)
   {
-    boost::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
+    std::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
     grabber_.registerCallback (frame_cb);
     grabber_.start ();
   }

apps/src/ni_agast.cpp

@@ -193,7 +193,7 @@ class AGASTDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&AGASTDemo::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&AGASTDemo::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);      
     }
 

apps/src/ni_brisk.cpp

@@ -101,7 +101,7 @@ class BRISKDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&BRISKDemo::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&BRISKDemo::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);
     }
 

apps/src/ni_linemod.cpp

@@ -475,7 +475,7 @@ class NILinemod
       cloud_viewer_.registerMouseCallback (&NILinemod::mouse_callback, *this);
       cloud_viewer_.registerKeyboardCallback(&NILinemod::keyboard_callback, *this);
       cloud_viewer_.registerPointPickingCallback (&NILinemod::pp_callback, *this);
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&NILinemod::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&NILinemod::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);
 
       image_viewer_.registerMouseCallback (&NILinemod::mouse_callback, *this);