Merge pull request #3171 from SergioRAgostinho/bind-keypoints

[keypoints] Prefer lambdas over bind.
PointCloudLibrary · Jun 19, 2019 · b5d28c2 · b5d28c2
2 parents 07aea52 + 8d76646
commit b5d28c2
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Showing 5 changed files with 20 additions and 17 deletions.
diff --git a/keypoints/include/pcl/keypoints/impl/harris_2d.hpp b/keypoints/include/pcl/keypoints/impl/harris_2d.hpp
@@ -242,8 +242,7 @@ pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::detectKeypoints (PointCl
   }
   else
   {    
-    std::sort (indices_->begin (), indices_->end (), 
-               boost::bind (&HarrisKeypoint2D::greaterIntensityAtIndices, this, _1, _2));
+    std::sort (indices_->begin (), indices_->end (), [this] (int p1, int p2) { return greaterIntensityAtIndices (p1, p2); });
     float threshold = threshold_ * response_->points[indices_->front ()].intensity;
     output.clear ();
     output.reserve (response_->size());

diff --git a/keypoints/include/pcl/keypoints/impl/keypoint.hpp b/keypoints/include/pcl/keypoints/impl/keypoint.hpp
@@ -75,16 +75,18 @@ pcl::Keypoint<PointInT, PointOutT>::initCompute ()
       if (surface_ == input_)       // if the two surfaces are the same
       {
         // Declare the search locator definition
-        int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices,
-                                     std::vector<float> &k_distances, unsigned int max_nn) const = &KdTree::radiusSearch;
-        search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, 0);
+        search_method_ = [this] (int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances)
+        {
+          return tree_->radiusSearch (index, radius, k_indices, k_distances, 0);
+        };
       }
       else
       {
         // Declare the search locator definition
-        int (KdTree::*radiusSearchSurface)(const PointCloudIn &cloud, int index, double radius, std::vector<int> &k_indices,
-                                            std::vector<float> &k_distances, unsigned int max_nn) const = &KdTree::radiusSearch;
-        search_method_surface_ = boost::bind (radiusSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5, 0);
+        search_method_surface_ = [this] (const PointCloudIn &cloud, int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances)
+        {
+          return tree_->radiusSearch (cloud, index, radius, k_indices, k_distances, 0);
+        };
       }
     }
   }
@@ -96,14 +98,18 @@ pcl::Keypoint<PointInT, PointOutT>::initCompute ()
       if (surface_ == input_)       // if the two surfaces are the same
       {
         // Declare the search locator definition
-        int (KdTree::*nearestKSearch)(int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const = &KdTree::nearestKSearch;
-        search_method_ = boost::bind (nearestKSearch, boost::ref (tree_), _1, _2, _3, _4);
+        search_method_ = [this] (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances)
+        {
+          return tree_->nearestKSearch (index, k, k_indices, k_distances);
+        };
       }
       else
       {
         // Declare the search locator definition
-        int (KdTree::*nearestKSearchSurface)(const PointCloudIn &cloud, int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const = &KdTree::nearestKSearch;
-        search_method_surface_ = boost::bind (nearestKSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5);
+        search_method_surface_ = [this] (const PointCloudIn &cloud, int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances)
+        {
+          return tree_->nearestKSearch (cloud, index, k, k_indices, k_distances);
+        };
       }
     }
     else

diff --git a/keypoints/include/pcl/keypoints/impl/trajkovic_2d.hpp b/keypoints/include/pcl/keypoints/impl/trajkovic_2d.hpp
@@ -207,8 +207,7 @@ pcl::TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT>::detectKeypoints (Poin
 
   // Non maximas suppression
   std::vector<int> indices = *indices_;
-  std::sort (indices.begin (), indices.end (),
-             boost::bind (&TrajkovicKeypoint2D::greaterCornernessAtIndices, this, _1, _2));
+  std::sort (indices.begin (), indices.end (), [this] (int p1, int p2) { return greaterCornernessAtIndices (p1, p2); });
 
   output.clear ();
   output.reserve (input_->size ());

diff --git a/keypoints/include/pcl/keypoints/impl/trajkovic_3d.hpp b/keypoints/include/pcl/keypoints/impl/trajkovic_3d.hpp
@@ -221,8 +221,7 @@ pcl::TrajkovicKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCl
   }
   // Non maximas suppression
   std::vector<int> indices = *indices_;
-  std::sort (indices.begin (), indices.end (),
-             boost::bind (&TrajkovicKeypoint3D::greaterCornernessAtIndices, this, _1, _2));
+  std::sort (indices.begin (), indices.end (), [this] (int p1, int p2) { return greaterCornernessAtIndices (p1, p2); });
 
   output.clear ();
   output.reserve (input_->size ());

diff --git a/keypoints/include/pcl/keypoints/keypoint.h b/keypoints/include/pcl/keypoints/keypoint.h
@@ -39,9 +39,9 @@
 
 // PCL includes
 #include <pcl/pcl_base.h>
-#include <boost/bind.hpp>
 #include <pcl/search/pcl_search.h>
 #include <pcl/pcl_config.h>
+
 #include <functional>
 
 namespace pcl