Replace '.points.' with just '.'

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/cvfh_estimator.h

@@ -133,7 +133,7 @@ class CVFHEstimation : public GlobalEstimator<PointInT, FeatureT> {
 
     for (std::size_t i = 0; i < cvfh_signatures.size(); i++) {
       pcl::PointCloud<FeatureT> vfh_signature;
-      vfh_signature.points.resize(1);
+      vfh_signature.resize(1);
       vfh_signature.width = vfh_signature.height = 1;
       for (int d = 0; d < 308; ++d)
         vfh_signature[0].histogram[d] = cvfh_signatures[i].histogram[d];

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/ourcvfh_estimator.h

@@ -162,7 +162,7 @@ class OURCVFHEstimator : public GlobalEstimator<PointInT, FeatureT> {
 
     for (const auto& point : cvfh_signatures.points) {
       pcl::PointCloud<FeatureT> vfh_signature;
-      vfh_signature.points.resize(1);
+      vfh_signature.resize(1);
       vfh_signature.width = vfh_signature.height = 1;
       for (int d = 0; d < 308; ++d)
         vfh_signature[0].histogram[d] = point.histogram[d];

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h

@@ -97,7 +97,7 @@ class UniformSamplingExtractor : public KeypointExtractor<PointInT> {
     neighborhood_dist_.reset(new std::vector<std::vector<float>>);
     neighborhood_dist_->resize(keypoints_cloud->size());
 
-    filtered_keypoints.points.resize(keypoints_cloud->size());
+    filtered_keypoints.resize(keypoints_cloud->size());
     int good = 0;
 
     for (std::size_t i = 0; i < keypoints_cloud->size(); i++) {

apps/src/manual_registration/manual_registration.cpp

@@ -155,7 +155,7 @@ void
 ManualRegistration::confirmSrcPointPressed()
 {
   if (src_point_selected_) {
-    src_pc_.points.push_back(src_point_);
+    src_pc_.push_back(src_point_);
     PCL_INFO("Selected %zu source points\n",
              static_cast<std::size_t>(src_pc_.size()));
     src_point_selected_ = false;
@@ -170,7 +170,7 @@ void
 ManualRegistration::confirmDstPointPressed()
 {
   if (dst_point_selected_) {
-    dst_pc_.points.push_back(dst_point_);
+    dst_pc_.push_back(dst_point_);
     PCL_INFO("Selected %zu destination points\n",
              static_cast<std::size_t>(dst_pc_.size()));
     dst_point_selected_ = false;
@@ -198,8 +198,8 @@ ManualRegistration::clearPressed()
 {
   dst_point_selected_ = false;
   src_point_selected_ = false;
-  src_pc_.points.clear();
-  dst_pc_.points.clear();
+  src_pc_.clear();
+  dst_pc_.clear();
   src_pc_.height = 1;
   src_pc_.width = 0;
   dst_pc_.height = 1;

apps/src/openni_shift_to_depth_conversion.cpp

@@ -156,8 +156,8 @@ class SimpleOpenNIViewer {
     std::size_t cloud_size = width_arg * height_arg;
 
     // Reset point cloud
-    cloud_arg.points.clear();
-    cloud_arg.points.reserve(cloud_size);
+    cloud_arg.clear();
+    cloud_arg.reserve(cloud_size);
 
     // Define point cloud parameters
     cloud_arg.width = static_cast<std::uint32_t>(width_arg);
@@ -198,7 +198,7 @@ class SimpleOpenNIViewer {
         }
 
         // Add point to cloud
-        cloud_arg.points.push_back(newPoint);
+        cloud_arg.push_back(newPoint);
         // Increment point iterator
         ++i;
       }

apps/src/openni_tracking.cpp

@@ -445,7 +445,7 @@ class OpenNISegmentTracking {
       point.y = (*cloud)[i].y;
       point.z = (*cloud)[i].z;
       point.rgba = (*cloud)[i].rgba;
-      result.points.push_back(point);
+      result.push_back(point);
     }
   }
 
@@ -476,7 +476,7 @@ class OpenNISegmentTracking {
       if (!(std::abs(point.x) < 0.01 && std::abs(point.y) < 0.01 &&
             std::abs(point.z) < 0.01) &&
           !std::isnan(point.x) && !std::isnan(point.y) && !std::isnan(point.z))
-        result.points.push_back(point);
+        result.push_back(point);
     }
 
     result.width = result.size();
@@ -493,7 +493,7 @@ class OpenNISegmentTracking {
     pcl::PointIndices segmented_indices = cluster_indices[segment_index];
     for (const int& index : segmented_indices.indices) {
       PointType point = (*cloud)[index];
-      result.points.push_back(point);
+      result.push_back(point);
     }
     result.width = result.size();
     result.height = 1;

common/include/pcl/common/impl/gaussian.hpp

@@ -58,7 +58,7 @@ GaussianKernel::convolveRows(const pcl::PointCloud<PointT> &input,
   {
     output.width = input.width;
     output.height = input.height;
-    output.points.resize (input.height * input.width);
+    output.resize (input.height * input.width);
   }
 
   int i;
@@ -91,7 +91,7 @@ GaussianKernel::convolveCols(const pcl::PointCloud<PointT> &input,
   {
     output.width = input.width;
     output.height = input.height;
-    output.points.resize (input.height * input.width);
+    output.resize (input.height * input.width);
   }
 
   int j;

common/include/pcl/common/impl/io.hpp

@@ -128,9 +128,9 @@ copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
   cloud_out.is_dense = cloud_in.is_dense;
   cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
   cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
-  cloud_out.points.resize (cloud_in.size ());
+  cloud_out.resize (cloud_in.size ());
 
-  if (cloud_in.points.empty ())
+  if (cloud_in.empty ())
     return;
 
   if (isSamePointType<PointInT, PointOutT> ())
@@ -156,7 +156,7 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
   }
 
   // Allocate enough space and copy the basics
-  cloud_out.points.resize (indices.size ());
+  cloud_out.resize (indices.size ());
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = indices.size ();
   cloud_out.height   = 1;
@@ -176,7 +176,7 @@ copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
                 pcl::PointCloud<PointOutT> &cloud_out)
 {
   // Allocate enough space and copy the basics
-  cloud_out.points.resize (indices.size ());
+  cloud_out.resize (indices.size ());
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = indices.size ();
   cloud_out.height   = 1;
@@ -203,7 +203,7 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
   }
 
   // Allocate enough space and copy the basics
-  cloud_out.points.resize (indices.indices.size ());
+  cloud_out.resize (indices.indices.size ());
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = indices.indices.size ();
   cloud_out.height   = 1;
@@ -243,7 +243,7 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
   }
 
   // Allocate enough space and copy the basics
-  cloud_out.points.resize (nr_p);
+  cloud_out.resize (nr_p);
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = nr_p;
   cloud_out.height   = 1;
@@ -282,7 +282,7 @@ copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
   }
 
   // Allocate enough space and copy the basics
-  cloud_out.points.resize (nr_p);
+  cloud_out.resize (nr_p);
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = nr_p;
   cloud_out.height   = 1;
@@ -319,7 +319,7 @@ concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in,
   }
 
   // Resize the output dataset
-  cloud_out.points.resize (cloud1_in.size ());
+  cloud_out.resize (cloud1_in.size ());
   cloud_out.header   = cloud1_in.header;
   cloud_out.width    = cloud1_in.width;
   cloud_out.height   = cloud1_in.height;

common/include/pcl/common/impl/transforms.hpp

@@ -229,11 +229,11 @@ transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
     cloud_out.is_dense = cloud_in.is_dense;
     cloud_out.width    = cloud_in.width;
     cloud_out.height   = cloud_in.height;
-    cloud_out.points.reserve (cloud_in.size ());
+    cloud_out.reserve (cloud_in.size ());
     if (copy_all_fields)
-      cloud_out.points.assign (cloud_in.points.begin (), cloud_in.points.end ());
+      cloud_out.assign (cloud_in.begin (), cloud_in.end ());
     else
-      cloud_out.points.resize (cloud_in.size ());
+      cloud_out.resize (cloud_in.size ());
     cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
     cloud_out.sensor_origin_      = cloud_in.sensor_origin_;
   }
@@ -274,7 +274,7 @@ transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = static_cast<int> (npts);
   cloud_out.height   = 1;
-  cloud_out.points.resize (npts);
+  cloud_out.resize (npts);
   cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
   cloud_out.sensor_origin_      = cloud_in.sensor_origin_;
 
@@ -321,11 +321,11 @@ transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
     cloud_out.width    = cloud_in.width;
     cloud_out.height   = cloud_in.height;
     cloud_out.is_dense = cloud_in.is_dense;
-    cloud_out.points.reserve (cloud_out.size ());
+    cloud_out.reserve (cloud_out.size ());
     if (copy_all_fields)
-      cloud_out.points.assign (cloud_in.points.begin (), cloud_in.points.end ());
+      cloud_out.assign (cloud_in.begin (), cloud_in.end ());
     else
-      cloud_out.points.resize (cloud_in.size ());
+      cloud_out.resize (cloud_in.size ());
     cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
     cloud_out.sensor_origin_      = cloud_in.sensor_origin_;
   }
@@ -369,7 +369,7 @@ transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
   cloud_out.header   = cloud_in.header;
   cloud_out.width    = static_cast<int> (npts);
   cloud_out.height   = 1;
-  cloud_out.points.resize (npts);
+  cloud_out.resize (npts);
   cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
   cloud_out.sensor_origin_      = cloud_in.sensor_origin_;
 

common/include/pcl/conversions.h

@@ -176,7 +176,7 @@ namespace pcl
 
     // Copy point data
     std::uint32_t num_points = msg.width * msg.height;
-    cloud.points.resize (num_points);
+    cloud.resize (num_points);
     std::uint8_t* cloud_data = reinterpret_cast<std::uint8_t*>(&cloud[0]);
 
     // Check if we can copy adjacent points in a single memcpy.  We can do so if there

common/include/pcl/point_cloud.h

@@ -258,7 +258,7 @@ namespace pcl
 
         // libstdc++ (GCC) on calling reserve allocates new memory, copies and deallocates old vector
         // This causes a drastic performance hit. Prefer not to use reserve with libstdc++ (default on clang)
-        cloud1.points.insert (cloud1.points.end (), cloud2.points.begin (), cloud2.points.end ());
+        cloud1.insert (cloud1.end (), cloud2.begin (), cloud2.end ());
 
         cloud1.width    = cloud1.size ();
         cloud1.height   = 1;

common/include/pcl/point_types_conversion.h

@@ -254,7 +254,7 @@ namespace pcl
     {
       Intensity p;
       PointRGBtoI (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -272,7 +272,7 @@ namespace pcl
     {
       Intensity8u p;
       PointRGBtoI (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -290,7 +290,7 @@ namespace pcl
     {
       Intensity32u p;
       PointRGBtoI (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -308,7 +308,7 @@ namespace pcl
     {
       PointXYZHSV p;
       PointXYZRGBtoXYZHSV (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -326,7 +326,7 @@ namespace pcl
     {
       PointXYZHSV p;
       PointXYZRGBAtoXYZHSV (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -344,7 +344,7 @@ namespace pcl
     {
       PointXYZI p;
       PointXYZRGBtoXYZI (point, p);
-      out.points.push_back (p);
+      out.push_back (p);
     }
   }
 
@@ -386,7 +386,7 @@ namespace pcl
         pt.g = image.at (u, v).g;
         pt.b = image.at (u, v).b;
 
-        out.points.push_back (pt);
+        out.push_back (pt);
       }
     }
     out.width = width_;

common/src/gaussian.cpp

@@ -146,7 +146,7 @@ pcl::GaussianKernel::convolveRows (const pcl::PointCloud<float>& input,
     {
       output.width = input.width;
       output.height = input.height;
-      output.points.resize (input.height * input.width);
+      output.resize (input.height * input.width);
     }
     unaliased_input = &input;
   }
@@ -190,7 +190,7 @@ pcl::GaussianKernel::convolveCols (const pcl::PointCloud<float>& input,
     {
       output.width = input.width;
       output.height = input.height;
-      output.points.resize (input.height * input.width);
+      output.resize (input.height * input.width);
     }
     unaliased_input = &input;
   }

common/src/range_image.cpp

@@ -351,8 +351,8 @@ RangeImage::getHalfImage (RangeImage& half_image) const
   half_image.width  = width/2;
   half_image.height = height/2;
   half_image.is_dense = is_dense;
-  half_image.points.clear ();
-  half_image.points.resize (half_image.width*half_image.height);
+  half_image.clear ();
+  half_image.resize (half_image.width*half_image.height);
 
   int src_start_x = 2*half_image.image_offset_x_ - image_offset_x_,
       src_start_y = 2*half_image.image_offset_y_ - image_offset_y_;
@@ -395,8 +395,8 @@ RangeImage::getSubImage (int sub_image_image_offset_x, int sub_image_image_offse
   sub_image.width = sub_image_width;
   sub_image.height = sub_image_height;
   sub_image.is_dense = is_dense;
-  sub_image.points.clear ();
-  sub_image.points.resize (sub_image.width*sub_image.height);
+  sub_image.clear ();
+  sub_image.resize (sub_image.width*sub_image.height);
 
   int src_start_x = combine_pixels*sub_image.image_offset_x_ - image_offset_x_,
       src_start_y = combine_pixels*sub_image.image_offset_y_ - image_offset_y_;
@@ -850,7 +850,7 @@ RangeImage::extractFarRanges (const pcl::PCLPointCloud2& point_cloud_data,
       PointWithViewpoint point;
       point.x=distance; point.y=y; point.z=z;
       point.vp_x=vp_x; point.vp_y=vp_y; point.vp_z=vp_z;
-      far_ranges.points.push_back (point);
+      far_ranges.push_back (point);
     }
   }
   far_ranges.width= far_ranges.size ();  far_ranges.height = 1;

cuda/apps/src/kinect_normals_cuda.cpp

@@ -102,7 +102,7 @@ class NormalEstimation
     {
       pcl::PointCloud<pcl::PointXYZRGB>::Ptr output (new pcl::PointCloud<pcl::PointXYZRGB>);
       PointCloudAOS<Host> data_host;
-      data_host.points.resize (cloud->points.size());
+      data_host.resize (cloud->points.size());
       for (std::size_t i = 0; i < cloud->points.size (); ++i)
       {
         PointXYZRGB pt;

cuda/apps/src/kinect_ransac.cpp

@@ -68,7 +68,7 @@ class SimpleKinectTool
       pcl::ScopeTime ttt ("all");
       pcl::PointCloud<pcl::PointXYZRGB>::Ptr output (new pcl::PointCloud<pcl::PointXYZRGB>);
       PointCloudAOS<Host> data_host;
-      data_host.points.resize (cloud->points.size());
+      data_host.resize (cloud->points.size());
       for (std::size_t i = 0; i < cloud->points.size (); ++i)
       {
         PointXYZRGB pt;

cuda/apps/src/kinect_segmentation_cuda.cpp

@@ -149,7 +149,7 @@ class Segmentation
     {
       pcl::PointCloud<pcl::PointXYZRGB>::Ptr output (new pcl::PointCloud<pcl::PointXYZRGB>);
       PointCloudAOS<Host> data_host;
-      data_host.points.resize (cloud->points.size());
+      data_host.resize (cloud->points.size());
       for (std::size_t i = 0; i < cloud->points.size (); ++i)
       {
         PointXYZRGB pt;