Merge pull request #3243 from SergioRAgostinho/bind-doc

[docs] Prefer lambdas over binds.

doc/tutorials/content/dinast_grabber.rst

@@ -76,7 +76,7 @@ The code from *apps/src/dinast_grabber_example.cpp* will be used for this tutori
       {
               
         std::function<void (const CloudConstPtr&)> f =
-          boost::bind (&DinastProcessor::cloud_cb_, this, _1);
+          [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };
         
         boost::signals2::connection c = interface.registerCallback (f);
 
@@ -120,12 +120,12 @@ At the run function what we first have is actually the callback and its registra
 .. code-block:: cpp    
 
   std::function<void (const CloudConstPtr&)> f =
-    boost::bind (&DinastProcessor::cloud_cb_, this, _1);
+    [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };
         
   boost::signals2::connection c = interface.registerCallback (f);
 
-We create a *boost::bind* object with the address of the callback *cloud_cb_*, we pass a reference to our DinastProcessor and the argument place holder *_1*.
-The bind then gets casted to a std::function object which is templated on the callback function type, in this case *void (const CloudConstPtr&)*. The resulting function object is then registered with the DinastGrabber interface. 
+We create a lambda object with the callback *cloud_cb_*, we pass an implicit copy of the DinastProcessor pointer (through *this*).
+The lambda then gets casted to a std::function object which is templated on the callback function type, in this case *void (const CloudConstPtr&)*. The resulting function object is then registered with the DinastGrabber interface.
 
 The *registerCallback* call returns a *boost::signals2::connection* object, which we do not use in the this example. However, if you want to interrupt or cancel one or more of the registered data streams, you can call disconnect the callback without stopping the whole grabber:
 

doc/tutorials/content/hdl_grabber.rst

@@ -125,8 +125,8 @@ So let's look at the code. The following represents a simplified version of *vis
          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);
 
@@ -194,7 +194,7 @@ Additional Details
 
 The *HDL Grabber* offers more than one datatype, which is the reason we made
 the *Grabber* interface so generic, leading to the relatively complicated
-*boost::bind* line. In fact, we can register the following callback types as of
+lambda line. In fact, we can register the following callback types as of
 this writing:
 
 * `void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)`

doc/tutorials/content/mobile_streaming.rst

@@ -100,7 +100,7 @@ few lines of the *run()* method:
 .. code-block:: cpp
 
     pcl::OpenNIGrabber grabber (device_id_);
-    std::function<void (const CloudConstPtr&)> handler_function = boost::bind (&PCLMobileServer::handleIncomingCloud, this, _1);
+    std::function<void (const CloudConstPtr&)> handler_function = [this] (const CloudConstPtr& cloud) { handleIncomingCloud (cloud); };
     grabber.registerCallback (handler_function);
     grabber.start ();
 

doc/tutorials/content/openni_grabber.rst

@@ -59,8 +59,8 @@ So let's look at the code. From *visualization/tools/openni_viewer_simple.cpp*
         {   
           pcl::Grabber* interface = new pcl::OpenNIGrabber();
 
-          std::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f = 
-            boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
+          std::function<void (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
+            [this] (const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud) { cloud_cb_ (cloud); };
 
           interface->registerCallback (f);
               
@@ -87,11 +87,12 @@ So let's look at the code. From *visualization/tools/openni_viewer_simple.cpp*
 
 As you can see, the *run ()* function of *SimpleOpenNIViewer* first creates a
 new *OpenNIGrabber* interface. The next line might seem a bit intimidating at
-first, but it's not that bad. We create a *boost::bind* object with the address
-of the callback *cloud_cb_*, we pass a reference to our *SimpleOpenNIViewer*
-and the argument place holder *_1*.
+first, but it's not that bad. We create a lambda object which invokes *cloud_cb_*,
+we capture a copy of *this* to get an pointer to our *SimpleOpenNIViewer*, so
+that *cloud_cb_* can be invoked.
 
-The *bind* then gets casted to a *std::function* object which is templated on
+
+The lambda then gets casted to a *std::function* object which is templated on
 the callback function type, in this case *void (const
 pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)*. The resulting function object can
 the be registered with the *OpenNIGrabber* and subsequently started.  Note that
@@ -103,7 +104,7 @@ Additional Details
 
 The *OpenNIGrabber* offers more than one datatype, which is the reason we made
 the *Grabber* interface so generic, leading to the relatively complicated
-*boost::bind* line. In fact, we can register the following callback types as of
+lambda line. In fact, we can register the following callback types as of
 this writing:
 
 * `void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)`

doc/tutorials/content/sources/davidsdk/davidsdk_images_viewer.cpp

@@ -106,7 +106,7 @@ main (int argc,
     return (-1);
   PCL_WARN ("davidSDK connected\n");
 
-  std::function<void (const pcl::PCLImage::Ptr &)> f = boost::bind (&grabberCallback, _1);
+  std::function<void (const pcl::PCLImage::Ptr&)> f = grabberCallback;
   davidsdk_ptr->registerCallback (f);
   davidsdk_ptr->start ();
   waitForUser ("Press enter to quit");

doc/tutorials/content/sources/ensenso_cameras/ensenso_cloud_images_viewer.cpp

@@ -129,7 +129,7 @@ main (void)
   //ensenso_ptr->initExtrinsicCalibration (5); // Disable projector if you want good looking images.
   // You won't be able to detect a calibration pattern with the projector enabled!
 
-  std::function<void (const PointCloudT::Ptr&, const PairOfImagesPtr&)> f = boost::bind (&grabberCallback, _1, _2);
+  std::function<void (const PointCloudT::Ptr&, const PairOfImagesPtr&)> f = grabberCallback;
   ensenso_ptr->registerCallback (f);
 
   cv::namedWindow ("Ensenso images", cv::WINDOW_AUTOSIZE);

doc/tutorials/content/sources/gpu/people_detect/src/people_detect.cpp

@@ -247,8 +247,11 @@ class PeoplePCDApp
       typedef openni_wrapper::DepthImage::Ptr DepthImagePtr;
       typedef openni_wrapper::Image::Ptr ImagePtr;
 
-      std::function<void (const PointCloud<PointXYZRGBA>::ConstPtr&)> func1 = boost::bind (&PeoplePCDApp::source_cb1, this, _1);
-      std::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func2 = boost::bind (&PeoplePCDApp::source_cb2, this, _1, _2, _3);
+      std::function<void (const PointCloud<PointXYZRGBA>::ConstPtr&)> func1 = [this] (const PointCloud<PointXYZRGBA>::ConstPtr& cloud) { source_cb1 (cloud); };
+      std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func2 = [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
+      {
+        source_cb2 (img, depth, constant);
+      };
       boost::signals2::connection c = cloud_cb_ ? capture_.registerCallback (func1) : capture_.registerCallback (func2);
 
       {

doc/tutorials/content/sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp

@@ -140,7 +140,7 @@ int main (int argc, char** argv)
   bool new_cloud_available_flag = false;
   pcl::Grabber* interface = new pcl::OpenNIGrabber();
   std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
-      boost::bind (&cloud_cb_, _1, cloud, &new_cloud_available_flag);
+      [&] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& callback_cloud) { cloud_cb_ (callback_cloud, cloud, &new_cloud_available_flag); };
   interface->registerCallback (f);
   interface->start ();
 

doc/tutorials/content/sources/iccv2011/src/openni_capture.cpp

@@ -11,7 +11,7 @@ OpenNICapture::OpenNICapture (const std::string& device_id)
   , trigger_ (false)
 {
   // Register a callback function to our OpenNI grabber...
-  std::function<void (const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNICapture::onNewFrame, this, _1);
+  std::function<void (const PointCloudConstPtr&)> frame_cb = [this] (const PointCloudConstPtr& cloud) { onNewFrame (cloud); };
   // ... and start grabbing frames
   grabber_.registerCallback (frame_cb);
   grabber_.start ();
@@ -40,7 +40,7 @@ OpenNICapture::snap ()
       preview_ = pcl::visualization::PCLVisualizer::Ptr (new pcl::visualization::PCLVisualizer ());
 
       std::function<void (const pcl::visualization::KeyboardEvent&)> keyboard_cb =
-        boost::bind (&OpenNICapture::onKeyboardEvent, this, _1);
+        [this] (const pcl::visualization::KeyboardEvent& event) { onKeyboardEvent (event); };
 
       preview_->registerKeyboardCallback (keyboard_cb);
     }

doc/tutorials/content/sources/iros2011/src/openni_capture.cpp

@@ -12,7 +12,7 @@ OpenNICapture::OpenNICapture (const std::string& device_id)
   , preview_ ()
 {
   // Register a callback function to our OpenNI grabber...
-  std::function<void (const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNICapture::onNewFrame, this, _1);
+  std::function<void (const PointCloudConstPtr&)> frame_cb = [this] (const PointCloudConstPtr& cloud) { onNewFrame (cloud); };
   // ... and start grabbing frames
   grabber_.registerCallback (frame_cb);
   grabber_.start ();
@@ -43,7 +43,7 @@ OpenNICapture::snap ()
       preview_ = new pcl::visualization::PCLVisualizer ();
 
       std::function<void (const pcl::visualization::KeyboardEvent&)> keyboard_cb =
-        boost::bind (&OpenNICapture::onKeyboardEvent, this, _1);
+        [this] (const pcl::visualization::KeyboardEvent& event) { onKeyboardEvent (event); };
 
       preview_->registerKeyboardCallback (keyboard_cb);
     }

doc/tutorials/content/sources/openni_grabber/openni_grabber.cpp

@@ -30,7 +30,7 @@ class SimpleOpenNIProcessor
 
     // make callback function from member function
     std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
-      boost::bind (&SimpleOpenNIProcessor::cloud_cb_, this, _1);
+      [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };
 
     // connect callback function for desired signal. In this case its a point cloud with color values
     boost::signals2::connection c = interface->registerCallback (f);

doc/tutorials/content/sources/openni_narf_keypoint_extraction/openni_narf_keypoint_extraction.cpp

@@ -118,7 +118,7 @@ int main (int argc, char** argv)
   EventHelper event_helper;
 
   std::function<void (const openni_wrapper::DepthImage::Ptr&) > f_depth_image =
-    boost::bind (&EventHelper::depth_image_cb, &event_helper, _1);
+    [&] (const openni_wrapper::DepthImage::Ptr& depth) { event_helper.depth_image_cb (depth); };
   boost::signals2::connection c_depth_image = interface->registerCallback (f_depth_image);
 
   cout << "Starting grabber\n";

doc/tutorials/content/sources/openni_range_image_visualization/openni_range_image_visualization.cpp

@@ -95,7 +95,7 @@ int main (int argc, char** argv)
   EventHelper event_helper;
 
   std::function<void (const openni_wrapper::DepthImage::Ptr&) > f_depth_image =
-    boost::bind (&EventHelper::depth_image_cb, &event_helper, _1);
+    [&] (const openni_wrapper::DepthImage::Ptr& depth) { event_helper.depth_image_cb (depth); };
   boost::signals2::connection c_depth_image = interface->registerCallback (f_depth_image);
 
   cout << "Starting grabber\n";

doc/tutorials/content/sources/point_cloud_compression/point_cloud_compression.cpp

@@ -60,8 +60,8 @@ class SimpleOpenNIViewer
     pcl::Grabber* interface = new pcl::OpenNIGrabber ();
 
     // make callback function from member function
-    std::function<void
-    (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
+    std::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
+      [this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };
 
     // connect callback function for desired signal. In this case its a point cloud with color values
     boost::signals2::connection c = interface->registerCallback (f);

doc/tutorials/content/sources/tracking/tracking_sample.cpp

@@ -275,11 +275,10 @@ main (int argc, char** argv)
   //Setup OpenNIGrabber and viewer
   pcl::visualization::CloudViewer* viewer_ = new pcl::visualization::CloudViewer("PCL OpenNI Tracking Viewer");
   pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id);
-  std::function<void (const CloudConstPtr&)> f =
-    boost::bind (&cloud_cb, _1);
+  std::function<void (const CloudConstPtr&)> f = cloud_cb;
   interface->registerCallback (f);
-    
-  viewer_->runOnVisualizationThread (boost::bind(&viz_cb, _1), "viz_cb");
+
+  viewer_->runOnVisualizationThread (viz_cb, "viz_cb");
 
   //Start viewer and object tracking
   interface->start();