Migrate boost::function to std::function

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/mesh_source.h

@@ -12,9 +12,11 @@
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h>
-#include <boost/function.hpp>
+
 #include <vtkTransformPolyDataFilter.h>
 
+#include <functional>
+
 namespace pcl
 {
   namespace rec_3d_framework
@@ -42,7 +44,7 @@ namespace pcl
         float radius_sphere_;
         float view_angle_;
         bool gen_organized_;
-        boost::function<bool
+        std::function<bool
         (const Eigen::Vector3f &)> campos_constraints_func_;
 
       public:
@@ -62,7 +64,7 @@ namespace pcl
         }
 
         void
-        setCamPosConstraints (boost::function<bool
+        setCamPosConstraints (std::function<bool
         (const Eigen::Vector3f &)> & bb)
         {
           campos_constraints_func_ = bb;

apps/3d_rec_framework/src/tools/global_classification.cpp

@@ -28,7 +28,7 @@ segmentAndClassify (typename pcl::rec_3d_framework::GlobalNNPipeline<DistT, Poin
   pcl::visualization::PCLVisualizer vis ("kinect");
 
   //keyboard callback to stop getting frames and finalize application
-  boost::function<void
+  std::function<void
   (const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera, _1);
   vis.registerKeyboardCallback (keyboard_cb);
   size_t previous_cluster_size = 0;

apps/3d_rec_framework/src/tools/openni_frame_source.cpp

@@ -8,7 +8,7 @@ namespace OpenNIFrameSource
   OpenNIFrameSource::OpenNIFrameSource (const std::string& device_id) :
     grabber_ (device_id), frame_counter_ (0), active_ (true)
   {
-    boost::function<void
+    std::function<void
     (const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
     grabber_.registerCallback (frame_cb);
     grabber_.start ();

apps/in_hand_scanner/src/in_hand_scanner.cpp

@@ -481,7 +481,7 @@ pcl::ihs::InHandScanner::startGrabberImpl ()
   lock.lock ();
   if (destructor_called_) return;
 
-  boost::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
+  std::function <void (const CloudXYZRGBAConstPtr&)> new_data_cb = boost::bind (&pcl::ihs::InHandScanner::newDataCallback, this, _1);
   new_data_connection_ = grabber_->registerCallback (new_data_cb);
   grabber_->start ();
 

apps/include/pcl/apps/render_views_tesselated_sphere.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
+#include <pcl/common/common.h>
+
 #include <vtkSmartPointer.h>
 #include <vtkPolyData.h>
-#include <pcl/common/common.h>
-#include <boost/function.hpp>
+
+#include <functional>
 
 namespace pcl
 {
@@ -37,7 +39,7 @@ namespace pcl
       bool compute_entropy_;
       vtkSmartPointer<vtkPolyData> polydata_;
       bool gen_organized_;
-      boost::function<bool
+      std::function<bool
       (const Eigen::Vector3f &)> campos_constraints_func_;
 
       struct camPosConstraintsAllTrue
@@ -64,7 +66,7 @@ namespace pcl
       }
 
       void
-      setCamPosConstraints (boost::function<bool (const Eigen::Vector3f &)> & bb)
+      setCamPosConstraints (std::function<bool (const Eigen::Vector3f &)> & bb)
       {
         campos_constraints_func_ = bb;
       }

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudEditorWidget.h

@@ -40,15 +40,17 @@
 
 #pragma once
 
-#include <QGLWidget>
-#include <boost/function.hpp>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 #include <pcl/apps/point_cloud_editor/common.h>
 #include <pcl/apps/point_cloud_editor/commandQueue.h>
 #include <pcl/apps/point_cloud_editor/denoiseParameterForm.h>
 #include <pcl/apps/point_cloud_editor/statisticsDialog.h>
 #include <pcl/apps/point_cloud_editor/toolInterface.h>
 
+#include <QGLWidget>
+
+#include <functional>
+
 /// @brief class declaration for the widget for editing and viewing
 /// point clouds.
 class CloudEditorWidget : public QGLWidget
@@ -251,7 +253,7 @@ class CloudEditorWidget : public QGLWidget
         return lhs.compare(rhs) < 0;
       }
     };
-    typedef boost::function<void (CloudEditorWidget*, const std::string&)>
+    typedef std::function<void (CloudEditorWidget*, const std::string&)>
       FileLoadFunc;
     typedef std::map<std::string, FileLoadFunc, ExtCompare> FileLoadMap;
     /// a map of file type extensions to loader functions.
@@ -301,7 +303,7 @@ class CloudEditorWidget : public QGLWidget
     /// A flag indicates whether the cloud is initially colored or not.
     bool is_colored_;
 
-    typedef boost::function<void (CloudEditorWidget*)> KeyMapFunc;
+    typedef std::function<void (CloudEditorWidget*)> KeyMapFunc;
     /// map between pressed key and the corresponding functor
     std::map<int, KeyMapFunc> key_map_;
 

apps/src/dinast_grabber_example.cpp

@@ -74,7 +74,7 @@ class DinastProcessor
     run ()
     {
 
-      boost::function<void (const CloudConstPtr&)> f =
+      std::function<void (const CloudConstPtr&)> f =
         boost::bind (&DinastProcessor::cloud_cb_, this, _1);
 
       boost::signals2::connection c = interface.registerCallback (f);

apps/src/face_detection/openni_face_detection.cpp

@@ -21,7 +21,7 @@ void run(pcl::RFFaceDetectorTrainer & fdrf, bool heat_map = false, bool show_vot
   vis.addCoordinateSystem (0.1, "global");
 
   //keyboard callback to stop getting frames and finalize application
-  boost::function<void(const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera,
+  std::function<void(const pcl::visualization::KeyboardEvent&)> keyboard_cb = boost::bind (&OpenNIFrameSource::OpenNIFrameSource::onKeyboardEvent, &camera,
       _1);
   vis.registerKeyboardCallback (keyboard_cb);
 

apps/src/face_detection/openni_frame_source.cpp

@@ -8,7 +8,7 @@ namespace OpenNIFrameSource
   OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id) :
       grabber_ (device_id), frame_counter_ (0), active_ (true)
   {
-    boost::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
+    std::function<void(const PointCloudConstPtr&)> frame_cb = boost::bind (&OpenNIFrameSource::onNewFrame, this, _1);
     grabber_.registerCallback (frame_cb);
     grabber_.start ();
   }

apps/src/ni_agast.cpp

@@ -193,7 +193,7 @@ class AGASTDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&AGASTDemo::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&AGASTDemo::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);      
     }
 

apps/src/ni_brisk.cpp

@@ -99,7 +99,7 @@ class BRISKDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&BRISKDemo::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&BRISKDemo::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);
     }
 

apps/src/ni_linemod.cpp

@@ -473,7 +473,7 @@ class NILinemod
       cloud_viewer_.registerMouseCallback (&NILinemod::mouse_callback, *this);
       cloud_viewer_.registerKeyboardCallback(&NILinemod::keyboard_callback, *this);
       cloud_viewer_.registerPointPickingCallback (&NILinemod::pp_callback, *this);
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&NILinemod::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&NILinemod::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);
 
       image_viewer_.registerMouseCallback (&NILinemod::mouse_callback, *this);

apps/src/ni_susan.cpp

@@ -97,7 +97,7 @@ class SUSANDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&SUSANDemo::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&SUSANDemo::cloud_callback, this, _1);
       cloud_connection = grabber_.registerCallback (cloud_cb);
     }
 

apps/src/ni_trajkovic.cpp

@@ -111,7 +111,7 @@ class TrajkovicDemo
     void
     init ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb;
+      std::function<void (const CloudConstPtr&) > cloud_cb;
       if (enable_3d_)
         cloud_cb = boost::bind (&TrajkovicDemo::cloud_callback_3d, this, _1);
       else

apps/src/openni_3d_concave_hull.cpp

@@ -140,7 +140,7 @@ class OpenNI3DConcaveHull
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNI3DConcaveHull::cloud_cb, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNI3DConcaveHull::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.runOnVisualizationThread (boost::bind(&OpenNI3DConcaveHull::viz_cb, this, _1), "viz_cb");

apps/src/openni_3d_convex_hull.cpp

@@ -138,7 +138,7 @@ class OpenNI3DConvexHull
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNI3DConvexHull::cloud_cb, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNI3DConvexHull::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.runOnVisualizationThread (boost::bind(&OpenNI3DConvexHull::viz_cb, this, _1), "viz_cb");

apps/src/openni_boundary_estimation.cpp

@@ -159,7 +159,7 @@ class OpenNIIntegralImageNormalEstimation
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &)> f = boost::bind (&OpenNIIntegralImageNormalEstimation::cloud_cb, this, _1);
+      std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &)> f = boost::bind (&OpenNIIntegralImageNormalEstimation::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.runOnVisualizationThread (boost::bind(&OpenNIIntegralImageNormalEstimation::viz_cb, this, _1), "viz_cb");

apps/src/openni_change_viewer.cpp

@@ -123,7 +123,7 @@ class OpenNIChangeViewer
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber();
 
-      boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = 
+      std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = 
         boost::bind (&OpenNIChangeViewer::cloud_cb_, this, _1);
 
       boost::signals2::connection c = interface->registerCallback (f);

apps/src/openni_color_filter.cpp

@@ -73,7 +73,7 @@ class OpenNIPassthrough
     : viewer ("PCL OpenNI ColorFilter Viewer")
     , grabber_(grabber)
     {
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIPassthrough::cloud_cb_, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIPassthrough::cloud_cb_, this, _1);
       boost::signals2::connection c = grabber_.registerCallback (f);
 
       std::vector<bool> lookup(1<<24, false);

apps/src/openni_fast_mesh.cpp

@@ -106,7 +106,7 @@ class OpenNIFastMesh
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIFastMesh::cloud_cb, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIFastMesh::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       view.reset (new pcl::visualization::PCLVisualizer (argc, argv, "PCL OpenNI Mesh Viewer"));

apps/src/openni_feature_persistence.cpp

@@ -190,7 +190,7 @@ class OpenNIFeaturePersistence
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIFeaturePersistence::cloud_cb, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIFeaturePersistence::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.runOnVisualizationThread (boost::bind(&OpenNIFeaturePersistence::viz_cb, this, _1), "viz_cb");

apps/src/openni_grab_frame.cpp

@@ -186,7 +186,7 @@ class OpenNIGrabFrame
 
 
       // make callback function from member function
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIGrabFrame::cloud_cb_, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIGrabFrame::cloud_cb_, this, _1);
 
       // connect callback function for desired signal. In this case its a point cloud with color values
       boost::signals2::connection c = grabber_.registerCallback (f);

apps/src/openni_grab_images.cpp

@@ -187,7 +187,7 @@ class OpenNIGrabFrame
       depth_image_viewer_.registerMouseCallback (&OpenNIGrabFrame::mouse_callback, *this);
       depth_image_viewer_.registerKeyboardCallback(&OpenNIGrabFrame::keyboard_callback, *this);
 
-      boost::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float) > image_cb = boost::bind (&OpenNIGrabFrame::image_callback, this, _1, _2, _3);
+      std::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float) > image_cb = boost::bind (&OpenNIGrabFrame::image_callback, this, _1, _2, _3);
       boost::signals2::connection image_connection = grabber_.registerCallback (image_cb);
 
       // start receiving point clouds

apps/src/openni_ii_normal_estimation.cpp

@@ -163,7 +163,7 @@ class OpenNIIntegralImageNormalEstimation
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIIntegralImageNormalEstimation::cloud_cb, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIIntegralImageNormalEstimation::cloud_cb, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.runOnVisualizationThread (boost::bind(&OpenNIIntegralImageNormalEstimation::viz_cb, this, _1), "viz_cb");

apps/src/openni_klt.cpp

@@ -206,14 +206,14 @@ class OpenNIViewer
     void
     run ()
     {
-      boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNIViewer::cloud_callback, this, _1);
+      std::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNIViewer::cloud_callback, this, _1);
       boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
 
       boost::signals2::connection image_connection;
       if (grabber_.providesCallback<void (const openni_wrapper::Image::Ptr&)>())
       {
         image_viewer_.reset (new pcl::visualization::ImageViewer ("Pyramidal KLT Tracker"));
-        boost::function<void (const openni_wrapper::Image::Ptr&) > image_cb = boost::bind (&OpenNIViewer::image_callback, this, _1);
+        std::function<void (const openni_wrapper::Image::Ptr&) > image_cb = boost::bind (&OpenNIViewer::image_callback, this, _1);
         image_connection = grabber_.registerCallback (image_cb);
       }
 

apps/src/openni_mls_smoothing.cpp

@@ -134,7 +134,7 @@ class OpenNISmoothing
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
 
-      boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNISmoothing::cloud_cb_, this, _1);
+      std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNISmoothing::cloud_cb_, this, _1);
       boost::signals2::connection c = interface->registerCallback (f);
 
       viewer.registerKeyboardCallback (keyboardEventOccurred, reinterpret_cast<void*> (&stop_computing_));

apps/src/openni_mobile_server.cpp

@@ -156,7 +156,7 @@ class PCLMobileServer
     run ()
     {
       pcl::OpenNIGrabber grabber (device_id_);
-      boost::function<void (const CloudConstPtr&)> handler_function = boost::bind (&PCLMobileServer::handleIncomingCloud, this, _1);
+      std::function<void (const CloudConstPtr&)> handler_function = boost::bind (&PCLMobileServer::handleIncomingCloud, this, _1);
       grabber.registerCallback (handler_function);
       grabber.start ();
 

apps/src/openni_octree_compression.cpp

@@ -155,7 +155,7 @@ class SimpleOpenNIViewer
       pcl::Grabber* interface = new pcl::OpenNIGrabber();
 
       // make callback function from member function
-      boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
+      std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
         boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
 
       // connect callback function for desired signal. In this case its a point cloud with color values
@@ -210,7 +210,7 @@ struct EventHelper
     pcl::Grabber* interface = new pcl::OpenNIGrabber ();
 
     // make callback function from member function
-    boost::function<void
+    std::function<void
     (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = boost::bind (&EventHelper::cloud_cb_, this, _1);
 
     // connect callback function for desired signal. In this case its a point cloud with color values

apps/src/openni_organized_compression.cpp

@@ -155,7 +155,7 @@ class SimpleOpenNIViewer
         pcl::Grabber* interface = new pcl::OpenNIGrabber();
 
         // make callback function from member function
-        boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
+        std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
           boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
 
         // connect callback function for desired signal. In this case its a point cloud with color values
@@ -246,7 +246,7 @@ struct EventHelper
       pcl::Grabber* interface = new pcl::OpenNIGrabber ();
 
       // make callback function from member function
-      boost::function<void
+      std::function<void
       (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = boost::bind (&EventHelper::cloud_cb_, this, _1);
 
       // connect callback function for desired signal. In this case its a point cloud with color values
@@ -271,7 +271,7 @@ struct EventHelper
       // Set the depth output format
       grabber.getDevice ()->setDepthOutputFormat (static_cast<openni_wrapper::OpenNIDevice::DepthMode> (depthformat));
 
-      boost::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float) > image_cb
+      std::function<void (const openni_wrapper::Image::Ptr&, const openni_wrapper::DepthImage::Ptr&, float) > image_cb
         = boost::bind (&EventHelper::image_callback, this, _1, _2, _3);
       boost::signals2::connection image_connection = grabber.registerCallback (image_cb);
 

apps/src/openni_organized_edge_detection.cpp

@@ -145,7 +145,7 @@ class OpenNIOrganizedEdgeDetection
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber ();
 
-      boost::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = boost::bind (&OpenNIOrganizedEdgeDetection::cloud_cb_, this, _1);
+      std::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = boost::bind (&OpenNIOrganizedEdgeDetection::cloud_cb_, this, _1);
 
       // Make and initialize a cloud viewer
       pcl::PointCloud<PointT>::Ptr init_cloud_ptr (new pcl::PointCloud<PointT>);

apps/src/openni_organized_multi_plane_segmentation.cpp

@@ -111,7 +111,7 @@ class OpenNIOrganizedMultiPlaneSegmentation
     {
       pcl::Grabber* interface = new pcl::OpenNIGrabber ();
 
-      boost::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = boost::bind (&OpenNIOrganizedMultiPlaneSegmentation::cloud_cb_, this, _1);
+      std::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = boost::bind (&OpenNIOrganizedMultiPlaneSegmentation::cloud_cb_, this, _1);
 
       //make a viewer
       pcl::PointCloud<PointT>::Ptr init_cloud_ptr (new pcl::PointCloud<PointT>);

apps/src/openni_passthrough.cpp

@@ -71,7 +71,7 @@ OpenNIPassthrough::OpenNIPassthrough (pcl::OpenNIGrabber& grabber)
   ui_->qvtk_widget->update (); 
 
   // Start the OpenNI data acquision
-  boost::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIPassthrough::cloud_cb, this, _1);
+  std::function<void (const CloudConstPtr&)> f = boost::bind (&OpenNIPassthrough::cloud_cb, this, _1);
   boost::signals2::connection c = grabber_.registerCallback (f);
 
   grabber_.start ();