Prefer emplace_back over push_back

apps/in_hand_scanner/src/opengl_viewer.cpp

@@ -549,7 +549,7 @@ pcl::ihs::OpenGLViewer::addMesh (const CloudXYZRGBNormalConstPtr& cloud, const s
             ind_v_2 = addVertex (pt_2, vertices, indices [ind_o_2]);
             ind_v_3 = addVertex (pt_3, vertices, indices [ind_o_3]);
 
-            triangles.push_back (FaceVertexMesh::Triangle (ind_v_1, ind_v_2, ind_v_3));
+            triangles.emplace_back(ind_v_1, ind_v_2, ind_v_3);
           }
         }
         if (!boost::math::isnan (pt_0.x)) // 0-1-3 is valid
@@ -562,7 +562,7 @@ pcl::ihs::OpenGLViewer::addMesh (const CloudXYZRGBNormalConstPtr& cloud, const s
             ind_v_3 = addVertex (pt_3, vertices, indices [ind_o_3]);
             ind_v_0 = addVertex (pt_0, vertices, indices [ind_o_0]);
 
-            triangles.push_back (FaceVertexMesh::Triangle (ind_v_1, ind_v_3, ind_v_0));
+            triangles.emplace_back(ind_v_1, ind_v_3, ind_v_0);
           }
         }
       }

apps/src/ppf_object_recognition.cpp

@@ -140,7 +140,7 @@ main (int argc, char** argv)
 
     PointCloud<PointXYZ>::Ptr cloud_output_subsampled_xyz (new PointCloud<PointXYZ> ());
     for (size_t i = 0; i < cloud_output_subsampled.points.size (); ++i)
-      cloud_output_subsampled_xyz->points.push_back ( PointXYZ (cloud_output_subsampled.points[i].x, cloud_output_subsampled.points[i].y, cloud_output_subsampled.points[i].z));
+      cloud_output_subsampled_xyz->points.emplace_back(cloud_output_subsampled.points[i].x, cloud_output_subsampled.points[i].y, cloud_output_subsampled.points[i].z);
 
 
     Eigen::Matrix4f mat = ppf_registration.getFinalTransformation ();

apps/src/pyramid_surface_matching.cpp

@@ -83,10 +83,10 @@ main (int argc, char **argv)
 
   PCL_INFO ("Finished calculating the features ...\n");
   vector<pair<float, float> > dim_range_input, dim_range_target;
-  for (size_t i = 0; i < 3; ++i) dim_range_input.push_back (pair<float, float> (float (-M_PI), float (M_PI)));
-  dim_range_input.push_back (pair<float, float> (0.0f, 1.0f));
-  for (size_t i = 0; i < 3; ++i) dim_range_target.push_back (pair<float, float> (float (-M_PI) * 10.0f, float (M_PI) * 10.0f));
-  dim_range_target.push_back (pair<float, float> (0.0f, 50.0f));
+  for (size_t i = 0; i < 3; ++i) dim_range_input.emplace_back(float (-M_PI), float (M_PI));
+  dim_range_input.emplace_back(0.0f, 1.0f);
+  for (size_t i = 0; i < 3; ++i) dim_range_target.emplace_back(float (-M_PI) * 10.0f, float (M_PI) * 10.0f);
+  dim_range_target.emplace_back(0.0f, 50.0f);
 
 
   PyramidFeatureHistogram<PPFSignature>::Ptr pyramid_a (new PyramidFeatureHistogram<PPFSignature> ());

common/include/pcl/common/impl/file_io.hpp

@@ -56,7 +56,7 @@ namespace pcl
       {
         std::string file_name = dirp->d_name;
         if (file_name.substr(file_name.size()-4, 4)==".pcd")
-          file_names.push_back(dirp->d_name);
+          file_names.emplace_back(dirp->d_name);
       }
     }
     closedir(dp);

common/src/parse.cpp

@@ -482,7 +482,7 @@ pcl::console::parse_multiple_arguments (int argc, const char * const * argv, con
     // Search for the string
     if ((strcmp (argv[i], str) == 0) && (++i < argc))
     {
-      values.push_back (std::string (argv[i]));
+      values.emplace_back(argv[i]);
     }
   }
   if (values.size () == 0)

filters/include/pcl/filters/impl/grid_minimum.hpp

@@ -131,7 +131,7 @@ pcl::GridMinimum<PointT>::applyFilterIndices (std::vector<int> &indices)
 
     // Compute the grid cell index
     int idx = ijk0 * divb_mul[0] + ijk1 * divb_mul[1];
-    index_vector.push_back (point_index_idx (static_cast<unsigned int> (idx), *it));
+    index_vector.emplace_back(static_cast<unsigned int> (idx), *it);
   }
 
   // Second pass: sort the index_vector vector using value representing target cell as index
@@ -156,7 +156,7 @@ pcl::GridMinimum<PointT>::applyFilterIndices (std::vector<int> &indices)
     while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
       ++i;
     ++total;
-    first_and_last_indices_vector.push_back (std::pair<unsigned int, unsigned int> (index, i));
+    first_and_last_indices_vector.emplace_back(index, i);
     index = i;
   }
 

filters/include/pcl/filters/impl/normal_space.hpp

@@ -194,7 +194,7 @@ pcl::NormalSpaceSampling<PointT, NormalT>::applyFilter (std::vector<int> &indice
   std::vector<std::list <int> > normals_hg;
   normals_hg.reserve (n_bins);
   for (unsigned int i = 0; i < n_bins; i++)
-    normals_hg.push_back (std::list<int> ());
+    normals_hg.emplace_back();
 
   for (std::vector<int>::const_iterator it = indices_->begin (); it != indices_->end (); ++it)
   {
@@ -208,7 +208,7 @@ pcl::NormalSpaceSampling<PointT, NormalT>::applyFilter (std::vector<int> &indice
   std::vector<std::vector<std::list<int>::iterator> > random_access (normals_hg.size ());
   for (unsigned int i = 0; i < normals_hg.size (); i++)
   {
-    random_access.push_back (std::vector<std::list<int>::iterator> ());
+    random_access.emplace_back();
     random_access[i].resize (normals_hg[i].size ());
 
     unsigned int j = 0;

filters/include/pcl/filters/impl/voxel_grid.hpp

@@ -309,7 +309,7 @@ pcl::VoxelGrid<PointT>::applyFilter (PointCloud &output)
 
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), *it));
+      index_vector.emplace_back(static_cast<unsigned int> (idx), *it);
     }
   }
   // No distance filtering, process all data
@@ -333,7 +333,7 @@ pcl::VoxelGrid<PointT>::applyFilter (PointCloud &output)
 
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), *it));
+      index_vector.emplace_back(static_cast<unsigned int> (idx), *it);
     }
   }
 
@@ -359,7 +359,7 @@ pcl::VoxelGrid<PointT>::applyFilter (PointCloud &output)
     if (i - index >= min_points_per_voxel_)
     {
       ++total;
-      first_and_last_indices_vector.push_back (std::pair<unsigned int, unsigned int> (index, i));
+      first_and_last_indices_vector.emplace_back(index, i);
     }
     index = i;
   }

filters/src/voxel_grid.cpp

@@ -340,7 +340,7 @@ pcl::VoxelGrid<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
       int ijk2 = static_cast<int> (floor (pt[2] * inverse_leaf_size_[2]) - min_b_[2]);
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (idx, static_cast<unsigned int> (cp)));
+      index_vector.emplace_back(idx, static_cast<unsigned int> (cp));
 
       xyz_offset += input_->point_step;
     }
@@ -370,7 +370,7 @@ pcl::VoxelGrid<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
       int ijk2 = static_cast<int> (floor (pt[2] * inverse_leaf_size_[2]) - min_b_[2]);
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (idx, static_cast<unsigned int> (cp)));
+      index_vector.emplace_back(idx, static_cast<unsigned int> (cp));
       xyz_offset += input_->point_step;
     }
   }

filters/src/voxel_grid_label.cpp

@@ -160,7 +160,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
 
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), cp));
+      index_vector.emplace_back(static_cast<unsigned int> (idx), cp);
     }
   }
   // No distance filtering, process all data
@@ -184,7 +184,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
 
       // Compute the centroid leaf index
       int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
-      index_vector.push_back (cloud_point_index_idx (static_cast<unsigned int> (idx), cp));
+      index_vector.emplace_back(static_cast<unsigned int> (idx), cp);
     }
   }
 

gpu/people/src/bodyparts_detector.cpp

@@ -71,7 +71,7 @@ pcl::gpu::people::RDFBodyPartsDetector::RDFBodyPartsDetector( const vector<strin
 
     // this might throw but we haven't done any malloc yet
     int height = loadTree (tree_files[i], nodes, leaves );
-    impl_->trees.push_back(device::CUDATree(height, nodes, leaves));
+    impl_->trees.emplace_back(height, nodes, leaves);
   }
 
   allocate_buffers(rows, cols);

gpu/people/tools/people_app.cpp

@@ -423,10 +423,10 @@ int main(int argc, char** argv)
 
   //selecting tree files
   vector<string> tree_files;
-  tree_files.push_back("Data/forest1/tree_20.txt");
-  tree_files.push_back("Data/forest2/tree_20.txt");
-  tree_files.push_back("Data/forest3/tree_20.txt");
-  tree_files.push_back("Data/forest4/tree_20.txt");    
+  tree_files.emplace_back("Data/forest1/tree_20.txt");
+  tree_files.emplace_back("Data/forest2/tree_20.txt");
+  tree_files.emplace_back("Data/forest3/tree_20.txt");
+  tree_files.emplace_back("Data/forest4/tree_20.txt");    
 
   pc::parse_argument (argc, argv, "-tree0", tree_files[0]);
   pc::parse_argument (argc, argv, "-tree1", tree_files[1]);

io/src/obj_io.cpp

@@ -208,7 +208,7 @@ pcl::MTLReader::read (const std::string& mtl_file_path)
 
       if (st[0] == "newmtl")
       {
-        materials_.push_back (pcl::TexMaterial ());
+        materials_.emplace_back();
         materials_.back ().tex_name = st[1];
         continue;
       }
@@ -442,7 +442,7 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
   int field_offset = 0;
   for (int i = 0; i < 3; ++i, field_offset += 4)
   {
-    cloud.fields.push_back (pcl::PCLPointField ());
+    cloud.fields.emplace_back();
     cloud.fields[i].offset   = field_offset;
     cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
     cloud.fields[i].count    = 1;
@@ -457,7 +457,7 @@ pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &c
     std::string normals_names[3] = { "normal_x", "normal_y", "normal_z" };
     for (int i = 0; i < 3; ++i, field_offset += 4)
     {
-      cloud.fields.push_back (pcl::PCLPointField ());
+      cloud.fields.emplace_back();
       pcl::PCLPointField& last = cloud.fields.back ();
       last.name     = normals_names[i];
       last.offset   = field_offset;
@@ -756,9 +756,9 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
           for (std::size_t i = 1; i < st.size (); ++i)
             c[i-1] = boost::lexical_cast<float> (st[i]);
           if (c[2] == 0)
-            coordinates.push_back (Eigen::Vector2f (c[0], c[1]));
+            coordinates.emplace_back(c[0], c[1]);
           else
-            coordinates.push_back (Eigen::Vector2f (c[0]/c[2], c[1]/c[2]));
+            coordinates.emplace_back(c[0]/c[2], c[1]/c[2]);
           ++vt_idx;
         }
         catch (const boost::bad_lexical_cast &e)
@@ -771,8 +771,8 @@ pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
       // Material
       if (st[0] == "usemtl")
       {
-        mesh.tex_polygons.push_back (std::vector<pcl::Vertices> ());
-        mesh.tex_materials.push_back (pcl::TexMaterial ());
+        mesh.tex_polygons.emplace_back();
+        mesh.tex_materials.emplace_back();
         for (std::size_t i = 0; i < companions_.size (); ++i)
         {
           std::vector<pcl::TexMaterial>::const_iterator mat_it = companions_[i].getMaterial (st[1]);

io/src/openni2_grabber.cpp

@@ -852,7 +852,7 @@ pcl::io::openni2::OpenNI2VideoMode dummy;
   for (std::map<int, pcl::io::openni2::OpenNI2VideoMode>::const_iterator it = config2oni_map_.begin (); it != config2oni_map_.end (); ++it)
   {
     if (device_->findCompatibleDepthMode (it->second, dummy))
-      result.push_back (*it);
+      result.emplace_back(*it);
   }
 
   return (result);
@@ -867,7 +867,7 @@ pcl::io::openni2::OpenNI2VideoMode dummy;
   for (std::map<int, pcl::io::openni2::OpenNI2VideoMode>::const_iterator it = config2oni_map_.begin (); it != config2oni_map_.end (); ++it)
   {
     if (device_->findCompatibleColorMode (it->second, dummy))
-      result.push_back (*it);
+      result.emplace_back(*it);
   }
 
   return (result);

io/src/openni_camera/openni_driver.cpp

@@ -99,7 +99,7 @@ openni_wrapper::OpenNIDriver::updateDeviceList ()
   for (xn::NodeInfoList::Iterator nodeIt = node_info_list.Begin (); nodeIt != node_info_list.End (); ++nodeIt)
   {
     connection_string_map_[(*nodeIt).GetCreationInfo ()] = static_cast<unsigned int> (device_context_.size ());
-    device_context_.push_back (DeviceContext (*nodeIt));
+    device_context_.emplace_back(*nodeIt);
   }
 
   // enumerate depth nodes

io/src/openni_grabber.cpp

@@ -860,7 +860,7 @@ pcl::OpenNIGrabber::getAvailableDepthModes () const
   for (std::map<int, XnMapOutputMode>::const_iterator it = config2xn_map_.begin (); it != config2xn_map_.end (); ++it)
   {
     if (device_->findCompatibleDepthMode (it->second, dummy))
-      result.push_back (*it);
+      result.emplace_back(*it);
   }
 
   return (result);
@@ -875,7 +875,7 @@ pcl::OpenNIGrabber::getAvailableImageModes () const
   for (std::map<int, XnMapOutputMode>::const_iterator it = config2xn_map_.begin (); it != config2xn_map_.end (); ++it)
   {
     if (device_->findCompatibleImageMode (it->second, dummy))
-      result.push_back (*it);
+      result.emplace_back(*it);
   }
 
   return (result);

io/src/ply/ply_parser.cpp

@@ -209,7 +209,7 @@ bool pcl::io::ply::ply_parser::parse (const std::string& filename)
                                                                 count, 
                                                                 boost::get<0>(element_callbacks), 
                                                                 boost::get<1>(element_callbacks)));
-        elements.push_back (boost::shared_ptr<element>(element_ptr));
+        elements.emplace_back(element_ptr);
         current_element_ = element_ptr.get ();
       }
 

io/src/ply_io.cpp

@@ -102,7 +102,7 @@ pcl::PLYReader::endHeaderCallback ()
 template<typename Scalar> void
 pcl::PLYReader::appendScalarProperty (const std::string& name, const size_t& size)
 {
-  cloud_->fields.push_back (::pcl::PCLPointField ());
+  cloud_->fields.emplace_back();
   ::pcl::PCLPointField &current_field = cloud_->fields.back ();
   current_field.name = name;
   current_field.offset = cloud_->point_step;
@@ -325,7 +325,7 @@ namespace pcl
     }
     else if (element_name == "vertex")
     {
-      cloud_->fields.push_back (pcl::PCLPointField ());
+      cloud_->fields.emplace_back();
       pcl::PCLPointField &current_field = cloud_->fields.back ();
       current_field.name = property_name;
       current_field.offset = cloud_->point_step;
@@ -354,7 +354,7 @@ namespace pcl
   {
     if (element_name == "vertex")
     {
-      cloud_->fields.push_back (pcl::PCLPointField ());
+      cloud_->fields.emplace_back();
       pcl::PCLPointField &current_field = cloud_->fields.back ();
       current_field.name = property_name;
       current_field.offset = cloud_->point_step;

io/src/vtk_lib_io.cpp

@@ -380,7 +380,7 @@ pcl::io::vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::TextureMe
   mesh.tex_polygons.push_back (polygon_mesh.polygons);
 
   // Add dummy material
-  mesh.tex_materials.push_back (pcl::TexMaterial ());
+  mesh.tex_materials.emplace_back();
   std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > dummy;
   mesh.tex_coordinates.push_back (dummy);
 

io/tools/converter.cpp

@@ -211,11 +211,11 @@ main (int argc,
 
   // Parse all files and options
   std::vector<std::string> supported_extensions;
-  supported_extensions.push_back("obj");
-  supported_extensions.push_back("pcd");
-  supported_extensions.push_back("ply");
-  supported_extensions.push_back("stl");
-  supported_extensions.push_back("vtk");
+  supported_extensions.emplace_back("obj");
+  supported_extensions.emplace_back("pcd");
+  supported_extensions.emplace_back("ply");
+  supported_extensions.emplace_back("stl");
+  supported_extensions.emplace_back("vtk");
   std::vector<int> file_args;
   for (int i = 1; i < argc; ++i)
     for (size_t j = 0; j < supported_extensions.size(); ++j)

io/tools/ply/ply2raw.cpp

@@ -258,7 +258,7 @@ ply_to_raw_converter::vertex_z (pcl::io::ply::float32 z)
 void
 ply_to_raw_converter::vertex_end ()
 {
-  vertices_.push_back (boost::tuple<pcl::io::ply::float32, pcl::io::ply::float32, pcl::io::ply::float32 > (vertex_x_, vertex_y_, vertex_z_));
+  vertices_.emplace_back(vertex_x_, vertex_y_, vertex_z_);
 }
 
 void

keypoints/include/pcl/keypoints/brisk_2d.h

@@ -249,8 +249,8 @@ namespace pcl
           // constructor arguments
           struct CommonParams
           {
-            static const int HALFSAMPLE = 0;
-            static const int TWOTHIRDSAMPLE = 1;
+            static const int HALFSAMPLE;
+            static const int TWOTHIRDSAMPLE;
           };
 
           /** \brief Constructor.