Use using instead of typedef [tools, tracking, visualization]

tools/compute_hausdorff.cpp

@@ -51,8 +51,8 @@ using namespace pcl::io;
 using namespace pcl::console;
 using namespace pcl::search;
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
 
 void
 printHelp (int, char **argv)

tools/crf_segmentation.cpp

@@ -54,9 +54,9 @@ float default_leaf_size = 0.005f;
 double default_feature_threshold = 5.0;
 double default_normal_radius_search = 0.03;
 
-typedef PointXYZRGBA PointT;
-typedef PointCloud<PointT> CloudT;
-typedef PointCloud<PointXYZRGBL> CloudLT;
+using PointT = PointXYZRGBA;
+using CloudT = PointCloud<PointT>;
+using CloudLT = PointCloud<PointXYZRGBL>;
 
 void
 printHelp (int, char **argv)

tools/crop_to_hull.cpp

@@ -49,8 +49,8 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef PointXYZ PointT;
-typedef PointCloud<PointT> CloudT;
+using PointT = PointXYZ;
+using CloudT = PointCloud<PointT>;
 
 const static double default_alpha = 1e3f;
 

tools/davidsdk_viewer.cpp

@@ -43,10 +43,10 @@
 using namespace std::chrono_literals;
 
 /** @brief Convenience typedef */
-typedef pcl::visualization::CloudViewer CloudViewer;
+using CloudViewer = pcl::visualization::CloudViewer;
 
 /** @brief Convenience typedef for XYZ point clouds */
-typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
+using PointCloudXYZ = pcl::PointCloud<pcl::PointXYZ>;
 
 /** @brief CloudViewer pointer */
 boost::shared_ptr<CloudViewer> viewer_ptr;

tools/depth_sense_viewer.cpp

@@ -92,7 +92,7 @@ printHelp (int, char **argv)
 void
 printDeviceList ()
 {
-  typedef boost::shared_ptr<pcl::DepthSenseGrabber> DepthSenseGrabberPtr;
+  using DepthSenseGrabberPtr = boost::shared_ptr<pcl::DepthSenseGrabber>;
   std::vector<DepthSenseGrabberPtr> grabbers;
   std::cout << "Connected devices: ";
   boost::format fmt ("\n  #%i  %s");
@@ -120,7 +120,7 @@ class DepthSenseViewer
 
   public:
 
-    typedef pcl::PointCloud<PointT> PointCloudT;
+    using PointCloudT = pcl::PointCloud<PointT>;
 
     DepthSenseViewer (pcl::DepthSenseGrabber& grabber)
     : grabber_ (grabber)

tools/elch.cpp

@@ -49,12 +49,12 @@
 
 #include <vector>
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
-typedef std::pair<std::string, CloudPtr> CloudPair;
-typedef std::vector<CloudPair> CloudVector;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
+using CloudPair = std::pair<std::string, CloudPtr>;
+using CloudVector = std::vector<CloudPair>;
 
 bool
 loopDetection (int end, const CloudVector &clouds, double dist, int &first, int &last)

tools/ensenso_viewer.cpp

@@ -46,10 +46,10 @@
 using namespace std::chrono_literals;
 
 /** @brief Convenience typedef */
-typedef pcl::visualization::CloudViewer CloudViewer;
+using CloudViewer = pcl::visualization::CloudViewer;
 
 /** @brief Convenience typedef for XYZ point clouds */
-typedef pcl::PointCloud<pcl::PointXYZ> PointCloudXYZ;
+using PointCloudXYZ = pcl::PointCloud<pcl::PointXYZ>;
 
 /** @brief CloudViewer pointer */
 boost::shared_ptr<CloudViewer> viewer_ptr;

tools/generate.cpp

@@ -52,9 +52,9 @@ using namespace pcl::io;
 using namespace pcl::common;
 using namespace pcl::console;
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
-typedef const Cloud::ConstPtr ConstCloudPtr;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
+using ConstCloudPtr = const Cloud::ConstPtr;
 
 std::string default_distribution = "uniform";
 float default_xmin = 0.0f;

tools/grid_min.cpp

@@ -50,9 +50,9 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
-typedef const Cloud::ConstPtr ConstCloudPtr;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
+using ConstCloudPtr = const Cloud::ConstPtr;
 
 float default_resolution = 1.0f;
 

tools/hdl_viewer_simple.cpp

@@ -88,8 +88,8 @@ template<typename PointType>
 class SimpleHDLViewer
 {
   public:
-    typedef PointCloud<PointType> Cloud;
-    typedef typename Cloud::ConstPtr CloudConstPtr;
+    using Cloud = PointCloud<PointType>;
+    using CloudConstPtr = typename Cloud::ConstPtr;
 
     SimpleHDLViewer (Grabber& grabber,
                      PointCloudColorHandler<PointType> &handler) 

tools/icp.cpp

@@ -49,10 +49,10 @@
 #include <fstream>
 #include <vector>
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
 
 int
 main (int argc, char **argv)

tools/icp2d.cpp

@@ -50,10 +50,10 @@
 #include <fstream>
 #include <vector>
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
 
 int
 main (int argc, char **argv)

tools/linemod_detection.cpp

@@ -15,7 +15,7 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloudXYZRGBA;
+using PointCloudXYZRGBA = pcl::PointCloud<pcl::PointXYZRGBA>;
 
 void
 printHelp (int, char **argv)

tools/local_max.cpp

@@ -50,9 +50,9 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
-typedef const Cloud::ConstPtr ConstCloudPtr;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
+using ConstCloudPtr = const Cloud::ConstPtr;
 
 float default_radius = 1.0f;
 

tools/lum.cpp

@@ -49,12 +49,12 @@
 
 #include <vector>
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
-typedef std::pair<std::string, CloudPtr> CloudPair;
-typedef std::vector<CloudPair> CloudVector;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
+using CloudPair = std::pair<std::string, CloudPtr>;
+using CloudVector = std::vector<CloudPair>;
 
 int
 main (int argc, char **argv)

tools/match_linemod_template.cpp

@@ -52,7 +52,7 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloudXYZRGBA;
+using PointCloudXYZRGBA = pcl::PointCloud<pcl::PointXYZRGBA>;
 
 void
 printHelp (int, char **argv)

tools/morph.cpp

@@ -51,9 +51,9 @@ using namespace pcl::io;
 using namespace pcl::console;
 
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
-typedef const Cloud::ConstPtr ConstCloudPtr;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
+using ConstCloudPtr = const Cloud::ConstPtr;
 
 std::string default_method = "open";
 float default_resolution = 1.0f;

tools/ndt2d.cpp

@@ -46,10 +46,10 @@
 #include <fstream>
 #include <vector>
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
 
 
 void

tools/ndt3d.cpp

@@ -45,10 +45,10 @@
 #include <vector>
 
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
-typedef Cloud::Ptr CloudPtr;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
+using CloudPtr = Cloud::Ptr;
 
 
 int

tools/oni2pcd.cpp

@@ -45,8 +45,8 @@ using namespace std;
 using namespace pcl;
 using namespace pcl::console;
 
-typedef PointCloud<PointXYZRGBA> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
+using Cloud = PointCloud<PointXYZRGBA>;
+using CloudConstPtr = Cloud::ConstPtr;
 
 int i = 0;
 char buf[4096];

tools/oni_viewer_simple.cpp

@@ -76,8 +76,8 @@ template <typename PointType>
 class SimpleONIViewer
 {
 public:
-  typedef pcl::PointCloud<PointType> Cloud;
-  typedef typename Cloud::ConstPtr CloudConstPtr;
+  using Cloud = pcl::PointCloud<PointType>;
+  using CloudConstPtr = typename Cloud::ConstPtr;
 
   SimpleONIViewer(pcl::ONIGrabber& grabber)
     : viewer("PCL OpenNI Viewer")

tools/openni2_viewer.cpp

@@ -109,8 +109,8 @@ template <typename PointType>
 class OpenNI2Viewer
 {
 public:
-  typedef pcl::PointCloud<PointType> Cloud;
-  typedef typename Cloud::ConstPtr CloudConstPtr;
+  using Cloud = pcl::PointCloud<PointType>;
+  using CloudConstPtr = typename Cloud::ConstPtr;
 
   OpenNI2Viewer (pcl::io::OpenNI2Grabber& grabber)
     : cloud_viewer_ (new pcl::visualization::PCLVisualizer ("PCL OpenNI2 cloud"))

tools/openni_image.cpp

@@ -142,8 +142,8 @@ do \
 //////////////////////////////////////////////////////////////////////////////////////////
 struct Frame
 {
-  typedef boost::shared_ptr<Frame> Ptr;
-  typedef boost::shared_ptr<const Frame> ConstPtr;
+  using Ptr = boost::shared_ptr<Frame>;
+  using ConstPtr = boost::shared_ptr<const Frame>;
 
   Frame (const boost::shared_ptr<openni_wrapper::Image> &_image,
          const boost::shared_ptr<openni_wrapper::DepthImage> &_depth_image,

tools/openni_viewer.cpp

@@ -107,8 +107,8 @@ template <typename PointType>
 class OpenNIViewer
 {
   public:
-    typedef pcl::PointCloud<PointType> Cloud;
-    typedef typename Cloud::ConstPtr CloudConstPtr;
+    using Cloud = pcl::PointCloud<PointType>;
+    using CloudConstPtr = typename Cloud::ConstPtr;
 
     OpenNIViewer (pcl::Grabber& grabber)
       : cloud_viewer_ (new pcl::visualization::PCLVisualizer ("PCL OpenNI cloud"))

tools/openni_viewer_simple.cpp

@@ -86,8 +86,8 @@ template <typename PointType>
 class SimpleOpenNIViewer
 {
   public:
-    typedef pcl::PointCloud<PointType> Cloud;
-    typedef typename Cloud::ConstPtr CloudConstPtr;
+    using Cloud = pcl::PointCloud<PointType>;
+    using CloudConstPtr = typename Cloud::ConstPtr;
 
     SimpleOpenNIViewer (pcl::OpenNIGrabber& grabber)
       : cloud_viewer_ ("PCL OpenNI Viewer")

tools/pcd_viewer.cpp

@@ -61,13 +61,13 @@
 using namespace std::chrono_literals;
 using namespace pcl::console;
 
-typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2> ColorHandler;
-typedef ColorHandler::Ptr ColorHandlerPtr;
-typedef ColorHandler::ConstPtr ColorHandlerConstPtr;
+using ColorHandler = pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>;
+using ColorHandlerPtr = ColorHandler::Ptr;
+using ColorHandlerConstPtr = ColorHandler::ConstPtr;
 
-typedef pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2> GeometryHandler;
-typedef GeometryHandler::Ptr GeometryHandlerPtr;
-typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr;
+using GeometryHandler = pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2>;
+using GeometryHandlerPtr = GeometryHandler::Ptr;
+using GeometryHandlerConstPtr = GeometryHandler::ConstPtr;
 
 #define NORMALS_SCALE 0.01f
 #define PC_SCALE 0.001f

tools/progressive_morphological_filter.cpp

@@ -52,9 +52,9 @@ using namespace pcl;
 using namespace pcl::io;
 using namespace pcl::console;
 
-typedef PointXYZ PointType;
-typedef PointCloud<PointXYZ> Cloud;
-typedef const Cloud::ConstPtr ConstCloudPtr;
+using PointType = PointXYZ;
+using Cloud = PointCloud<PointXYZ>;
+using ConstCloudPtr = const Cloud::ConstPtr;
 
 int default_max_window_size = 33;
 float default_slope = 0.7f;

tools/radius_filter.cpp

@@ -42,9 +42,9 @@
 #include <pcl/filters/conditional_removal.h>
 
 
-typedef pcl::PointXYZ PointType;
-typedef pcl::PointCloud<PointType> Cloud;
-typedef Cloud::ConstPtr CloudConstPtr;
+using PointType = pcl::PointXYZ;
+using Cloud = pcl::PointCloud<PointType>;
+using CloudConstPtr = Cloud::ConstPtr;
 
 float default_radius = 1.0f;
 bool default_inside = true;

tools/real_sense_viewer.cpp

@@ -98,7 +98,7 @@ printHelp (int, char **argv)
 void
 printDeviceList ()
 {
-  typedef boost::shared_ptr<pcl::RealSenseGrabber> RealSenseGrabberPtr;
+  using RealSenseGrabberPtr = boost::shared_ptr<pcl::RealSenseGrabber>;
   std::vector<RealSenseGrabberPtr> grabbers;
   std::cout << "Connected devices: ";
   boost::format fmt ("\n  #%i  %s");
@@ -147,7 +147,7 @@ class RealSenseViewer
 
   public:
 
-    typedef pcl::PointCloud<PointT> PointCloudT;
+    using PointCloudT = pcl::PointCloud<PointT>;
 
     RealSenseViewer (pcl::RealSenseGrabber& grabber)
     : grabber_ (grabber)

tools/sac_segmentation_plane.cpp

@@ -102,7 +102,7 @@ compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output
   tt.tic ();
 
   // Refine the plane indices
-  typedef SampleConsensusModelPlane<PointXYZ>::Ptr SampleConsensusModelPlanePtr;
+  using SampleConsensusModelPlanePtr = SampleConsensusModelPlane<PointXYZ>::Ptr;
   SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (xyz));
   RandomSampleConsensus<PointXYZ> sac (model, threshold);
   sac.setMaxIterations (max_iterations);