Fix remaining build issues

feliwir · feliwir · commit ac0b5063f9d7 · 2018-07-21T14:04:43.000+02:00
diff --git a/apps/3d_rec_framework/tools/apps/src/global_classification.cpp b/apps/3d_rec_framework/tools/apps/src/global_classification.cpp
@@ -176,7 +176,7 @@ main (int argc, char ** argv)
     vfh_estimator->setNormalEstimator (normal_estimator);
 
     std::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::VFHSignature308> > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::VFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > (vfh_estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::VFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > (vfh_estimator);
 
     pcl::rec_3d_framework::GlobalNNPipeline<flann::L1, pcl::PointXYZ, pcl::VFHSignature308> global;
     global.setDataSource (cast_source);
@@ -196,7 +196,7 @@ main (int argc, char ** argv)
     vfh_estimator->setNormalEstimator (normal_estimator);
 
     std::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::VFHSignature308> > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::CVFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > (vfh_estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::CVFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > (vfh_estimator);
 
     pcl::rec_3d_framework::GlobalNNPipeline<Metrics::HistIntersectionUnionDistance, pcl::PointXYZ, pcl::VFHSignature308> global;
     global.setDataSource (cast_source);
@@ -215,7 +215,7 @@ main (int argc, char ** argv)
     estimator.reset (new pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640>);
 
     std::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::ESFSignature640> > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640> > (estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640> > (estimator);
 
     pcl::rec_3d_framework::GlobalNNPipeline<flann::L1, pcl::PointXYZ, pcl::ESFSignature640> global;
     global.setDataSource (cast_source);
diff --git a/apps/3d_rec_framework/tools/apps/src/local_recognition_mian_dataset.cpp b/apps/3d_rec_framework/tools/apps/src/local_recognition_mian_dataset.cpp
@@ -464,7 +464,7 @@ main (int argc, char ** argv)
     estimator->setSupportRadius (0.04f);
 
     std::shared_ptr<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > (estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > (estimator);
 
     pcl::rec_3d_framework::LocalRecognitionPipeline<flann::L1, pcl::PointXYZ, pcl::Histogram<352> > local;
     local.setDataSource (cast_source);
@@ -496,7 +496,7 @@ main (int argc, char ** argv)
     estimator->setSupportRadius (desc_radius);
 
     std::shared_ptr<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > (estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::Histogram<352> > > (estimator);
 
     pcl::rec_3d_framework::LocalRecognitionPipeline<flann::L1, pcl::PointXYZ, pcl::Histogram<352> > local;
     local.setDataSource (cast_source);
@@ -528,7 +528,7 @@ main (int argc, char ** argv)
     estimator->setSupportRadius (0.04f);
 
     std::shared_ptr<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::FPFHSignature33> > cast_estimator;
-    cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::FPFHSignature33> > (estimator);
+    cast_estimator = std::dynamic_pointer_cast<pcl::rec_3d_framework::LocalEstimator<pcl::PointXYZ, pcl::FPFHSignature33> > (estimator);
 
     pcl::rec_3d_framework::LocalRecognitionPipeline<flann::L1, pcl::PointXYZ, pcl::FPFHSignature33> local;
     local.setDataSource (cast_source);
diff --git a/apps/src/feature_matching.cpp b/apps/src/feature_matching.cpp
@@ -247,13 +247,13 @@ 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 = std::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 (std::dynamic_pointer_cast<typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_))
   {
     cout << "normal estimation..." << std::flush;
     typename pcl::PointCloud<pcl::Normal>::Ptr normals (new  pcl::PointCloud<pcl::Normal>);
diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp
@@ -279,7 +279,7 @@ OrganizedSegmentationDemo::cloud_cb (const CloudConstPtr& cloud)
   ne.setInputCloud (cloud);
   ne.compute (*normal_cloud);
   float* distance_map = ne.getDistanceMap ();
-  std::shared_ptr<pcl::EdgeAwarePlaneComparator<PointT,pcl::Normal> > eapc = boost::dynamic_pointer_cast<pcl::EdgeAwarePlaneComparator<PointT,pcl::Normal> >(edge_aware_comparator_);
+  std::shared_ptr<pcl::EdgeAwarePlaneComparator<PointT,pcl::Normal> > eapc = std::dynamic_pointer_cast<pcl::EdgeAwarePlaneComparator<PointT,pcl::Normal> >(edge_aware_comparator_);
   eapc->setDistanceMap (distance_map);
   eapc->setDistanceThreshold (0.01f, false);
 
diff --git a/doc/tutorials/content/sources/iccv2011/src/tutorial.cpp b/doc/tutorials/content/sources/iccv2011/src/tutorial.cpp
@@ -255,13 +255,13 @@ 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 = std::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 (std::dynamic_pointer_cast<typename pcl::FeatureFromNormals<pcl::PointXYZRGB, pcl::Normal, FeatureType> > (feature_extractor_))
   {
     cout << "normal estimation..." << std::flush;
     typename pcl::PointCloud<pcl::Normal>::Ptr normals (new  pcl::PointCloud<pcl::Normal>);
diff --git a/io/src/oni_grabber.cpp b/io/src/oni_grabber.cpp
@@ -85,7 +85,7 @@ ONIGrabber::ONIGrabber (const std::string& file_name, bool repeat, bool stream)
   , point_cloud_rgba_signal_ ()
 {
   openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
-  device_ = boost::dynamic_pointer_cast< openni_wrapper::DeviceONI> (driver.createVirtualDevice (file_name, repeat, stream));
+  device_ = std::dynamic_pointer_cast< openni_wrapper::DeviceONI> (driver.createVirtualDevice (file_name, repeat, stream));
 
   if (!device_->hasDepthStream ())
     PCL_THROW_EXCEPTION (pcl::IOException, "Device does not provide 3D information.");
diff --git a/outofcore/include/pcl/outofcore/impl/monitor_queue.hpp b/outofcore/include/pcl/outofcore/impl/monitor_queue.hpp
@@ -4,6 +4,7 @@
 #define PCL_OUTOFCORE_MONITOR_QUEUE_IMPL_H_
 
 #include <queue>
+#include <condition_variable>
 
 template<typename DataT>
 class MonitorQueue : boost::noncopyable
@@ -12,15 +13,15 @@ class MonitorQueue : boost::noncopyable
   void
   push (const DataT& newData)
   {
-    std::lock_guard<std::mutex> lock (monitor_mutex_);
+    std::unique_lock<std::mutex> lock (monitor_mutex_);
     queue_.push (newData);
     item_available_.notify_one ();
   }
 
   DataT
   pop ()
   {
-    std::lock_guard<std::mutex> lock (monitor_mutex_);
+    std::unique_lock<std::mutex> lock (monitor_mutex_);
 
     if (queue_.empty ())
     {
diff --git a/outofcore/include/pcl/outofcore/visualization/object.h b/outofcore/include/pcl/outofcore/visualization/object.h
@@ -16,6 +16,7 @@
 //#include <boost/date_time.hpp>
 //#include <boost/filesystem.hpp>
 #include <thread>
+#include <mutex>
 
 //Forward Declaration
 class Scene;
diff --git a/outofcore/src/visualization/outofcore_cloud.cpp b/outofcore/src/visualization/outofcore_cloud.cpp
@@ -62,9 +62,9 @@ OutofcoreCloud::pcdReaderThread ()
   while (true)
   {
     //{
-      //std::lock_guard<std::mutex> lock (pcd_queue_mutex);
-      //pcd_queue_mutex.wait (lock);
-      pcd_queue_ready.wait(pcd_queue_mutex);
+      std::unique_lock<std::mutex> lock (pcd_queue_mutex);
+      pcd_queue_ready.wait (lock);
+      //pcd_queue_ready.wait(pcd_queue_mutex);
     //}
     //pcd_queue_ready
 
diff --git a/recognition/include/pcl/recognition/3rdparty/metslib/abstract-search.hh b/recognition/include/pcl/recognition/3rdparty/metslib/abstract-search.hh
@@ -133,8 +133,7 @@ namespace mets {
     /// An exception mets::no_moves_error can be risen when no move is
     /// possible.
     virtual void
-    search() 
-      throw(no_moves_error) = 0;
+    search() = 0;
 
     /// @brief The solution recorder instance.
     const solution_recorder&
diff --git a/recognition/include/pcl/recognition/3rdparty/metslib/local-search.hh b/recognition/include/pcl/recognition/3rdparty/metslib/local-search.hh
@@ -79,8 +79,7 @@ namespace mets {
     /// moves.
     ///
     virtual void
-    search()
-      throw(no_moves_error);
+    search();
 
   protected:
     bool short_circuit_m;
@@ -107,7 +106,6 @@ mets::local_search<move_manager_t>::local_search(evaluable_solution& working,
 template<typename move_manager_t>
 void
 mets::local_search<move_manager_t>::search()
-  throw(no_moves_error)
 {
   typedef abstract_search<move_manager_t> base_t;
   typename move_manager_t::iterator best_movit;
diff --git a/recognition/include/pcl/recognition/3rdparty/metslib/simulated-annealing.hh b/recognition/include/pcl/recognition/3rdparty/metslib/simulated-annealing.hh
@@ -121,8 +121,7 @@ namespace mets {
     /// Remember that this is a minimization process.
     ///
     virtual void
-    search()
-      throw(no_moves_error);
+    search();
 
     void setApplyAndEvaluate(bool b) {
       apply_and_evaluate = b;
@@ -221,7 +220,6 @@ simulated_annealing(evaluable_solution& working,
 template<typename move_manager_t>
 void
 mets::simulated_annealing<move_manager_t>::search()
-  throw(no_moves_error)
 {
   typedef abstract_search<move_manager_t> base_t;
 
diff --git a/recognition/include/pcl/recognition/3rdparty/metslib/tabu-search.hh b/recognition/include/pcl/recognition/3rdparty/metslib/tabu-search.hh
@@ -241,8 +241,7 @@ namespace mets {
     /// An exception mets::no_moves_error is risen when no move
     /// is possible.
     void 
-    search() 
-      throw(no_moves_error);
+    search();
     
     enum {
       ASPIRATION_CRITERIA_MET = abstract_search<move_manager_type>::LAST,
@@ -401,7 +400,6 @@ tabu_search (feasible_solution& starting_solution,
 
 template<typename move_manager_t>
 void mets::tabu_search<move_manager_t>::search()
-  throw(no_moves_error)
 {
   typedef abstract_search<move_manager_t> base_t;
   while(!termination_criteria_m(base_t::working_solution_m))
diff --git a/recognition/include/pcl/recognition/impl/hv/hv_go.hpp b/recognition/include/pcl/recognition/impl/hv/hv_go.hpp
@@ -676,13 +676,19 @@ void pcl::GlobalHypothesesVerification<ModelT, SceneT>::computeClutterCue(std::s
     }
 
     //sort neighborhood indices by id
-    std::sort (neighborhood_indices.begin (), neighborhood_indices.end (),
-        std::bind (&std::pair<int, int>::first, std::placeholders::_1) < std::bind (&std::pair<int, int>::first, std::placeholders::_2));
+    std::sort (neighborhood_indices.begin (), neighborhood_indices.end (), 
+    [](const std::pair<int, int> & a, const std::pair<int, int> & b) -> bool
+      { 
+          return a.first < b.first; 
+      });
 
     //erase duplicated unexplained points
     neighborhood_indices.erase (
         std::unique (neighborhood_indices.begin (), neighborhood_indices.end (),
-            std::bind (&std::pair<int, int>::first, std::placeholders::_1) == std::bind (&std::pair<int, int>::first, std::placeholders::_2)), neighborhood_indices.end ());
+      [](const std::pair<int, int> & a, const std::pair<int, int> & b) -> bool
+        { 
+            return a.first == b.first; 
+        }), neighborhood_indices.end ());
 
     //sort explained points
     std::vector<int> exp_idces (recog_model->explained_);
diff --git a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp
@@ -1250,11 +1250,11 @@ pcl::ism::ImplicitShapeModelEstimation<FeatureSize, PointT, NormalT>::estimateFe
   feature_estimator_->setSearchMethod (tree);
 
 //  typename pcl::SpinImageEstimation<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> >::Ptr feat_est_norm =
-//    boost::dynamic_pointer_cast<pcl::SpinImageEstimation<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> > > (feature_estimator_);
+//    std::dynamic_pointer_cast<pcl::SpinImageEstimation<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> > > (feature_estimator_);
 //  feat_est_norm->setInputNormals (normal_cloud);
 
   typename pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> >::Ptr feat_est_norm =
-    boost::dynamic_pointer_cast<pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> > > (feature_estimator_);
+    std::dynamic_pointer_cast<pcl::FeatureFromNormals<pcl::PointXYZ, pcl::Normal, pcl::Histogram<FeatureSize> > > (feature_estimator_);
   feat_est_norm->setInputNormals (normal_cloud);
 
   feature_estimator_->compute (*feature_cloud);
diff --git a/recognition/src/face_detection/rf_face_detector_trainer.cpp b/recognition/src/face_detection/rf_face_detector_trainer.cpp
@@ -61,7 +61,7 @@ void pcl::RFFaceDetectorTrainer::trainWithDataProvider()
 
   std::shared_ptr < pcl::DecisionTreeTrainerDataProvider<face_detection::FeatureType, std::vector<face_detection::TrainingExample>, float, int, NodeType>
       > cast_dtdp;
-  cast_dtdp = boost::dynamic_pointer_cast
+  cast_dtdp = std::dynamic_pointer_cast
       < pcl::DecisionTreeTrainerDataProvider<face_detection::FeatureType, std::vector<face_detection::TrainingExample>, float, int, NodeType> > (dtdp);
   dft.setDecisionTreeDataProvider (cast_dtdp);
 
@@ -196,7 +196,11 @@ void pcl::RFFaceDetectorTrainer::faceVotesClustering()
         uncertainty.push_back (std::make_pair (votes_indices[i][j], uncertainties_[votes_indices[i][j]]));
       }
 
-      std::sort (uncertainty.begin (), uncertainty.end (), std::bind (&std::pair<int, float>::second, std::placeholders::_1) < std::bind (&std::pair<int, float>::second, std::placeholders::_2));
+      std::sort (uncertainty.begin (), uncertainty.end (), 
+      [](const std::pair<int, int> & a, const std::pair<int, int> & b) -> bool
+      { 
+          return a.first < b.second; 
+      });
 
       Eigen::Vector3f rot;
       rot.setZero ();
diff --git a/surface/include/pcl/surface/mls.h b/surface/include/pcl/surface/mls.h
@@ -49,7 +49,6 @@
 #include <pcl/surface/eigen.h>
 #include <pcl/surface/processing.h>
 #include <map>
-#include 
 
 namespace pcl
 {
diff --git a/visualization/tools/hdl_viewer_simple.cpp b/visualization/tools/hdl_viewer_simple.cpp
@@ -146,8 +146,7 @@ class SimpleHDLViewer
       //cloud_viewer_->registerKeyboardCallback (&SimpleHDLViewer::keyboard_callback, *this);
 
       //std::function<void(const CloudConstPtr&, float, float)> cloud_cb = std::bind(&SimpleHDLViewer::cloud_callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
-      std::function<void (const CloudConstPtr&)> cloud_cb = std::bind (
-          &SimpleHDLViewer::cloud_callback, this, std::placeholders::_1);
+      std::function<void (const CloudConstPtr&)> cloud_cb = [&] (const CloudConstPtr& ptr) { cloud_callback(ptr); };
       boost::signals2::connection cloud_connection = grabber_.registerCallback (
           cloud_cb);
 

Original file line number	Diff line number	Diff line change
`@@ -85,7 +85,7 @@ ONIGrabber::ONIGrabber (const std::string& file_name, bool repeat, bool stream)`
`85`	`85`	`, point_cloud_rgba_signal_ ()`
`86`	`86`	`{`
`87`	`87`	`openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();`
`88`		`- device_ = boost::dynamic_pointer_cast< openni_wrapper::DeviceONI> (driver.createVirtualDevice (file_name, repeat, stream));`
	`88`	`+ device_ = std::dynamic_pointer_cast< openni_wrapper::DeviceONI> (driver.createVirtualDevice (file_name, repeat, stream));`
`89`	`89`
`90`	`90`	`if (!device_->hasDepthStream ())`
`91`	`91`	`PCL_THROW_EXCEPTION (pcl::IOException, "Device does not provide 3D information.");`
Original file line number	Diff line number	Diff line change
`@@ -4,6 +4,7 @@`
`4`	`4`	`#define PCL_OUTOFCORE_MONITOR_QUEUE_IMPL_H_`
`5`	`5`
`6`	`6`	`#include <queue>`
	`7`	`+#include <condition_variable>`
`7`	`8`
`8`	`9`	`template<typename DataT>`
`9`	`10`	`class MonitorQueue : boost::noncopyable`
`@@ -12,15 +13,15 @@ class MonitorQueue : boost::noncopyable`
`12`	`13`	`void`
`13`	`14`	`push (const DataT& newData)`
`14`	`15`	`{`
`15`		`- std::lock_guard<std::mutex> lock (monitor_mutex_);`
	`16`	`+ std::unique_lock<std::mutex> lock (monitor_mutex_);`
`16`	`17`	`queue_.push (newData);`
`17`	`18`	`item_available_.notify_one ();`
`18`	`19`	`}`
`19`	`20`
`20`	`21`	`DataT`
`21`	`22`	`pop ()`
`22`	`23`	`{`
`23`		`- std::lock_guard<std::mutex> lock (monitor_mutex_);`
	`24`	`+ std::unique_lock<std::mutex> lock (monitor_mutex_);`
`24`	`25`
`25`	`26`	`if (queue_.empty ())`
`26`	`27`	`{`