Migrate unordered_map from boost -> std (#3107)

* [registration] Add custom hasher to PPFHashMapSearch
PointCloudLibrary · May 31, 2019 · 112d870 · 112d870
1 parent 13e3050
commit 112d870
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Showing 17 changed files with 45 additions and 32 deletions.
diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/boost.h
@@ -44,7 +44,6 @@
 #  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>

diff --git a/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h b/apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h
@@ -51,6 +51,7 @@
 #include <mutex>
 #include <iomanip>
 #include <string>
+#include <unordered_map>
 
 namespace pcl
 {
@@ -332,7 +333,7 @@ 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;
@@ -342,7 +343,7 @@ 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.

diff --git a/features/include/pcl/features/boost.h b/features/include/pcl/features/boost.h
@@ -43,9 +43,6 @@
 #  pragma GCC system_header 
 #endif
 
-#include <boost/unordered_map.hpp>
 #include <boost/function.hpp>
 #include <boost/bind.hpp>
 #include <boost/property_map/property_map.hpp>
-//#include <boost/graph/adjacency_list.hpp>
-//#include <boost/graph/johnson_all_pairs_shortest.hpp>
diff --git a/filters/include/pcl/filters/boost.h b/filters/include/pcl/filters/boost.h
@@ -51,7 +51,6 @@
 #include <boost/make_shared.hpp>
 #include <boost/dynamic_bitset.hpp>
 #include <boost/mpl/size.hpp>
-#include <boost/unordered_map.hpp>
 #include <boost/fusion/sequence/intrinsic/at_key.hpp>
 #include <boost/bind.hpp>
 #include <boost/function.hpp>

diff --git a/filters/include/pcl/filters/impl/uniform_sampling.hpp b/filters/include/pcl/filters/impl/uniform_sampling.hpp
@@ -133,8 +133,8 @@ pcl::UniformSampling<PointT>::applyFilter (PointCloud &output)
   output.points.resize (leaves_.size ());
   int cp = 0;
 
-  for (typename boost::unordered_map<size_t, Leaf>::const_iterator it = leaves_.begin (); it != leaves_.end (); ++it)
-    output.points[cp++] = input_->points[it->second.idx];
+  for (const auto& leaf : leaves_)
+    output.points[cp++] = input_->points[leaf.second.idx];
   output.width = static_cast<uint32_t> (output.points.size ());
 }
 

diff --git a/filters/include/pcl/filters/uniform_sampling.h b/filters/include/pcl/filters/uniform_sampling.h
@@ -40,7 +40,8 @@
 #pragma once
 
 #include <pcl/filters/filter.h>
-#include <boost/unordered_map.hpp>
+
+#include <unordered_map>
 
 namespace pcl
 {
@@ -115,7 +116,7 @@ namespace pcl
       };
 
       /** \brief The 3D grid leaves. */
-      boost::unordered_map<size_t, Leaf> leaves_;
+      std::unordered_map<size_t, Leaf> leaves_;
 
       /** \brief The size of a leaf. */
       Eigen::Vector4f leaf_size_;

diff --git a/recognition/include/pcl/recognition/boost.h b/recognition/include/pcl/recognition/boost.h
@@ -43,6 +43,4 @@
 #  pragma GCC system_header 
 #endif
 
-#include <boost/unordered_map.hpp>
 #include <boost/graph/graph_traits.hpp>
-//#include <boost/graph/adjacency_list.hpp>
diff --git a/recognition/include/pcl/recognition/cg/hough_3d.h b/recognition/include/pcl/recognition/cg/hough_3d.h
@@ -43,6 +43,8 @@
 #include <pcl/recognition/boost.h>
 #include <pcl/point_types.h>
 
+#include <unordered_map>
+
 namespace pcl
 {
   namespace recognition
@@ -122,10 +124,9 @@ namespace pcl
 
         /** \brief The Hough Space. */
         std::vector<double> hough_space_;
-        //boost::unordered_map<int, double> hough_space_;
 
         /** \brief List of voters for each bin. */
-        boost::unordered_map<int, std::vector<int> > voter_ids_;
+        std::unordered_map<int, std::vector<int> > voter_ids_;
     };
   }
 

diff --git a/registration/include/pcl/registration/boost.h b/registration/include/pcl/registration/boost.h
@@ -48,7 +48,6 @@
 #include <boost/graph/dijkstra_shortest_paths.hpp>
 #include <boost/property_map/property_map.hpp>
 
-#include <boost/unordered_map.hpp>
 #include <boost/noncopyable.hpp>
 #include <boost/make_shared.hpp>
 #include <boost/function.hpp>

diff --git a/registration/include/pcl/registration/correspondence_rejection_features.h b/registration/include/pcl/registration/correspondence_rejection_features.h
@@ -45,6 +45,8 @@
 #include <pcl/point_representation.h>
 #include <pcl/registration/boost.h>
 
+#include <unordered_map>
+
 namespace pcl
 {
   namespace registration
@@ -163,7 +165,7 @@ namespace pcl
             typedef boost::shared_ptr<FeatureContainerInterface> Ptr;
         };
 
-        typedef boost::unordered_map<std::string, FeatureContainerInterface::Ptr> FeaturesMap;
+        typedef std::unordered_map<std::string, FeatureContainerInterface::Ptr> FeaturesMap;
 
         /** \brief An STL map containing features to use when performing the correspondence search.*/
         FeaturesMap features_map_;

diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus.hpp
@@ -40,7 +40,7 @@
 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
 
-#include <boost/unordered_map.hpp>
+#include <unordered_map>
 
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void 
@@ -113,7 +113,7 @@ pcl::registration::CorrespondenceRejectorSampleConsensus<PointT>::getRemainingCo
          best_transformation_.setIdentity ();
          return;
        }
-       boost::unordered_map<int, int> index_to_correspondence;
+       std::unordered_map<int, int> index_to_correspondence;
        for (int i = 0; i < nr_correspondences; ++i)
          index_to_correspondence[original_correspondences[i].index_query] = i;
 

diff --git a/registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp b/registration/include/pcl/registration/impl/correspondence_rejection_sample_consensus_2d.hpp
@@ -41,6 +41,8 @@
 #include <pcl/sample_consensus/sac_model_registration_2d.h>
 #include <pcl/sample_consensus/ransac.h>
 
+#include <unordered_map>
+
 ///////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void 
 pcl::registration::CorrespondenceRejectorSampleConsensus2D<PointT>::getRemainingCorrespondences (
@@ -114,7 +116,7 @@ pcl::registration::CorrespondenceRejectorSampleConsensus2D<PointT>::getRemaining
       return;
     }
 
-    boost::unordered_map<int, int> index_to_correspondence;
+    std::unordered_map<int, int> index_to_correspondence;
     for (int i = 0; i < nr_correspondences; ++i)
       index_to_correspondence[original_correspondences[i].index_query] = i;
 

diff --git a/registration/include/pcl/registration/ppf_registration.h b/registration/include/pcl/registration/ppf_registration.h
@@ -44,6 +44,8 @@
 #include <pcl/registration/registration.h>
 #include <pcl/features/ppf.h>
 
+#include <unordered_map>
+
 namespace pcl
 {
   class PCL_EXPORTS PPFHashMapSearch
@@ -56,15 +58,26 @@ namespace pcl
         */
       struct HashKeyStruct : public std::pair <int, std::pair <int, std::pair <int, int> > >
       {
+        HashKeyStruct () = default;
+
         HashKeyStruct(int a, int b, int c, int d)
         {
           this->first = a;
           this->second.first = b;
           this->second.second.first = c;
           this->second.second.second = d;
         }
+
+        std::size_t operator()(const HashKeyStruct& s) const noexcept
+        {
+            const std::size_t h1 = std::hash<int>{} (s.first);
+            const std::size_t h2 = std::hash<int>{} (s.second.first);
+            const std::size_t h3 = std::hash<int>{} (s.second.second.first);
+            const std::size_t h4 = std::hash<int>{} (s.second.second.second);
+            return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
+        }
       };
-      typedef boost::unordered_multimap<HashKeyStruct, std::pair<size_t, size_t> > FeatureHashMapType;
+      typedef std::unordered_multimap<HashKeyStruct, std::pair<size_t, size_t>, HashKeyStruct> FeatureHashMapType;
       typedef boost::shared_ptr<FeatureHashMapType> FeatureHashMapTypePtr;
       typedef boost::shared_ptr<PPFHashMapSearch> Ptr;
 

diff --git a/surface/include/pcl/surface/boost.h b/surface/include/pcl/surface/boost.h
@@ -45,6 +45,5 @@
 
 #include <boost/bind.hpp>
 #include <boost/function.hpp>
-#include <boost/unordered_map.hpp>
 #include <boost/dynamic_bitset/dynamic_bitset.hpp>
 #include <boost/shared_ptr.hpp>
diff --git a/surface/include/pcl/surface/grid_projection.h b/surface/include/pcl/surface/grid_projection.h
@@ -40,6 +40,8 @@
 #include <pcl/surface/boost.h>
 #include <pcl/surface/reconstruction.h>
 
+#include <unordered_map>
+
 namespace pcl
 {
   /** \brief The 12 edges of a cell. */
@@ -92,7 +94,7 @@ namespace pcl
         Eigen::Vector3f vect_at_grid_pt;
       };
 
-      typedef boost::unordered_map<int, Leaf, boost::hash<int>, std::equal_to<int>, Eigen::aligned_allocator<int> > HashMap;
+      typedef std::unordered_map<int, Leaf, std::hash<int>, std::equal_to<int>, Eigen::aligned_allocator<std::pair<const int, Leaf>>> HashMap;
 
       /** \brief Constructor. */ 
       GridProjection ();

diff --git a/visualization/include/pcl/visualization/boost.h b/visualization/include/pcl/visualization/boost.h
@@ -54,7 +54,6 @@
 #include <boost/algorithm/string/split.hpp>
 #include <boost/algorithm/string/classification.hpp>
 #include <boost/bind.hpp>
-#include <boost/unordered_map.hpp>
 #include <boost/foreach.hpp>
 #ifndef Q_MOC_RUN
 #include <boost/date_time/posix_time/posix_time.hpp>

diff --git a/visualization/include/pcl/visualization/common/actor_map.h b/visualization/include/pcl/visualization/common/actor_map.h
@@ -37,15 +37,16 @@
 
 #pragma once
 
+#include <pcl/visualization/boost.h>
 #include <pcl/visualization/point_cloud_handlers.h>
-#include <vector>
-#include <map>
 #include <pcl/PCLPointCloud2.h>
-#include <boost/unordered_map.hpp>
+
 #include <vtkLODActor.h>
 #include <vtkSmartPointer.h>
-#include <pcl/PCLPointCloud2.h>
-#include <pcl/visualization/boost.h>
+
+#include <map>
+#include <unordered_map>
+#include <vector>
 
 template <typename T> class vtkSmartPointer;
 class vtkLODActor;
@@ -96,13 +97,13 @@ namespace pcl
         vtkSmartPointer<vtkIdTypeArray> cells;
     };
 
-    typedef boost::unordered_map<std::string, CloudActor> CloudActorMap;
+    typedef std::unordered_map<std::string, CloudActor> CloudActorMap;
     typedef boost::shared_ptr<CloudActorMap> CloudActorMapPtr;
 
-    typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
+    typedef std::unordered_map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
     typedef boost::shared_ptr<ShapeActorMap> ShapeActorMapPtr;
 
-    typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > CoordinateActorMap;
+    typedef std::unordered_map<std::string, vtkSmartPointer<vtkProp> > CoordinateActorMap;
     typedef boost::shared_ptr<CoordinateActorMap> CoordinateActorMapPtr;
   }
 }