[common] Migrate boost::function to std::function

PointCloudLibrary · May 10, 2019 · 9fc8749 · 9fc8749
1 parent f9fb3f5
commit 9fc8749
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Showing 5 changed files with 19 additions and 22 deletions.
diff --git a/common/include/pcl/common/boost.h b/common/include/pcl/common/boost.h
@@ -49,7 +49,6 @@
 #include <boost/make_shared.hpp>
 #include <boost/mpl/size.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
-#include <boost/function.hpp>
 #include <boost/signals2.hpp>
 #include <boost/signals2/slot.hpp>
 #include <boost/algorithm/string.hpp>

diff --git a/common/include/pcl/common/gaussian.h b/common/include/pcl/common/gaussian.h
@@ -39,10 +39,10 @@
 
 #pragma once
 
-#include <sstream>
 #include <pcl/common/eigen.h>
 #include <pcl/point_cloud.h>
-#include <boost/function.hpp>
+
+#include <sstream>
 
 namespace pcl
 {
@@ -57,8 +57,6 @@ namespace pcl
   {
     public:
 
-      GaussianKernel () {}
-
       static const unsigned MAX_KERNEL_WIDTH = 71;
       /** Computes the gaussian kernel and dervative assiociated to sigma.
         * The kernel and derivative width are adjusted according.
@@ -106,9 +104,9 @@ namespace pcl
         * \note if output doesn't fit in input i.e. output.rows () < input.rows () or
         * output.cols () < input.cols () then output is resized to input sizes.
         */
-     template <typename PointT> void
+     template <typename PointT, template<typename> class FunctionT> void
      convolveRows (const pcl::PointCloud<PointT> &input,
-                   boost::function <float (const PointT& p)> field_accessor,
+                   FunctionT <float (const PointT& p)> field_accessor,
                    const Eigen::VectorXf &kernel,
                    pcl::PointCloud<float> &output) const;
 
@@ -132,9 +130,9 @@ namespace pcl
         * \note if output doesn't fit in input i.e. output.rows () < input.rows () or
         * output.cols () < input.cols () then output is resized to input sizes.
         */
-      template <typename PointT> void
+      template <typename PointT, template<typename> class FunctionT> void
       convolveCols (const pcl::PointCloud<PointT> &input,
-                    boost::function <float (const PointT& p)> field_accessor,
+                    FunctionT <float (const PointT& p)> field_accessor,
                     const Eigen::VectorXf &kernel,
                     pcl::PointCloud<float> &output) const;
 
@@ -168,9 +166,9 @@ namespace pcl
         * \note if output doesn't fit in input i.e. output.rows () < input.rows () or
         * output.cols () < input.cols () then output is resized to input sizes.
         */
-      template <typename PointT> inline void
+      template <typename PointT, template<typename> class FunctionT> inline void
       convolve (const pcl::PointCloud<PointT> &input,
-                boost::function <float (const PointT& p)> field_accessor,
+                FunctionT <float (const PointT& p)> field_accessor,
                 const Eigen::VectorXf &horiz_kernel,
                 const Eigen::VectorXf &vert_kernel,
                 pcl::PointCloud<float> &output) const
@@ -214,9 +212,9 @@ namespace pcl
         * \note if output doesn't fit in input i.e. output.rows () < input.rows () or
         * output.cols () < input.cols () then output is resized to input sizes.
         */
-      template <typename PointT> inline void
+      template <typename PointT, template<typename> class FunctionT> inline void
       computeGradients (const pcl::PointCloud<PointT> &input,
-                        boost::function <float (const PointT& p)> field_accessor,
+                        FunctionT <float (const PointT& p)> field_accessor,
                         const Eigen::VectorXf &gaussian_kernel,
                         const Eigen::VectorXf &gaussian_kernel_derivative,
                         pcl::PointCloud<float> &grad_x,
@@ -249,9 +247,9 @@ namespace pcl
         * \note if output doesn't fit in input i.e. output.rows () < input.rows () or
         * output.cols () < input.cols () then output is resized to input sizes.
         */
-      template <typename PointT> inline void
+      template <typename PointT, template<typename> class FunctionT> inline void
       smooth (const pcl::PointCloud<PointT> &input,
-              boost::function <float (const PointT& p)> field_accessor,
+              FunctionT <float (const PointT& p)> field_accessor,
               const Eigen::VectorXf &gaussian_kernel,
               pcl::PointCloud<float> &output) const
       {

diff --git a/common/include/pcl/common/impl/gaussian.hpp b/common/include/pcl/common/impl/gaussian.hpp
@@ -44,7 +44,7 @@
 
 template <typename PointT> void 
 pcl::GaussianKernel::convolveRows(const pcl::PointCloud<PointT> &input,
-                                  boost::function <float (const PointT& p)> field_accessor,
+                                  std::function <float (const PointT& p)> field_accessor,
                                   const Eigen::VectorXf& kernel,
                                   pcl::PointCloud<float> &output) const
 {
@@ -77,7 +77,7 @@ pcl::GaussianKernel::convolveRows(const pcl::PointCloud<PointT> &input,
 
 template <typename PointT> void 
 pcl::GaussianKernel::convolveCols(const pcl::PointCloud<PointT> &input,
-                                  boost::function <float (const PointT& p)> field_accessor,
+                                  std::function <float (const PointT& p)> field_accessor,
                                   const Eigen::VectorXf& kernel,
                                   pcl::PointCloud<float> &output) const
 {

diff --git a/common/include/pcl/common/synchronizer.h b/common/include/pcl/common/synchronizer.h
@@ -58,7 +58,7 @@ namespace pcl
     std::deque<T1Stamped> queueT1;
     std::deque<T2Stamped> queueT2;
 
-    typedef boost::function<void(T1, T2, unsigned long, unsigned long) > CallbackFunction;
+    typedef std::function<void(T1, T2, unsigned long, unsigned long) > CallbackFunction;
 
     std::map<int, CallbackFunction> cb_;
     int callback_counter;
@@ -109,7 +109,7 @@ namespace pcl
 
       for (typename std::map<int, CallbackFunction>::iterator cb = cb_.begin (); cb != cb_.end (); ++cb)
       {
-        if (!cb->second.empty ())
+        if (cb->second)
         {
           cb->second.operator()(queueT1.front ().second, queueT2.front ().second, queueT1.front ().first, queueT2.front ().first);
         }

diff --git a/common/include/pcl/common/time_trigger.h b/common/include/pcl/common/time_trigger.h
@@ -40,12 +40,12 @@
 
 #include <pcl/pcl_macros.h>
 #ifndef Q_MOC_RUN
-#include <boost/function.hpp>
 #include <boost/thread.hpp>
 #include <boost/signals2.hpp>
 #endif
 
 #include <condition_variable>
+#include <functional>
 #include <mutex>
 #include <thread>
 
@@ -57,7 +57,7 @@ namespace pcl
   class PCL_EXPORTS TimeTrigger
   {
     public:
-      typedef boost::function<void() > callback_type;
+      typedef std::function<void() > callback_type;
 
       /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
         * \param[in] interval_seconds interval in seconds
@@ -74,7 +74,7 @@ namespace pcl
       ~TimeTrigger ();
 
       /** \brief registers a callback
-        * \param[in] callback callback function to the list of callbacks. signature has to be boost::function<void()>
+        * \param[in] callback callback function to the list of callbacks. signature has to be std::function<void()>
         * \return connection the connection, which can be used to disable/enable and remove callback from list
         */
       boost::signals2::connection registerCallback (const callback_type& callback);