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Migrate from boost::bind to std::bind #3249

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Jul 19, 2019
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Migrate from boost::bind to std::bind #3249

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6 changes: 4 additions & 2 deletions cuda/apps/src/kinect_cloud.cpp
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Expand Up @@ -48,6 +48,8 @@
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

#include <functional>

using namespace message_filters;
using namespace pcl;
using namespace pcl_cuda;
Expand Down Expand Up @@ -111,13 +113,13 @@ main (int argc, char **argv)
ROS_INFO ("[disparity_to_cloud] Using RGB to color the points.");
sync_rgb.connectInput (sub_depth, sub_rgb, sub_info);
//sync_rgb.registerCallback (bind (&pcl_cuda::DisparityToCloud::callback, k, _1, _2, _3));
sync_rgb.registerCallback (boost::bind (&EventHelper::callback, &h, _1, _2, _3));
sync_rgb.registerCallback (std::bind (&EventHelper::callback, &h, _1, _2, _3));
}
else
{
sync.connectInput (sub_depth, sub_info);
//sync.registerCallback (bind (&pcl_cuda::DisparityToCloud::callback, k, _1, PCLImageConstPtr (), _2));
sync.registerCallback (boost::bind (&EventHelper::callback, &h, _1, PCLImageConstPtr (), _2));
sync.registerCallback (std::bind (&EventHelper::callback, &h, _1, PCLImageConstPtr (), _2));
}

// Do this indefinitely
Expand Down
2 changes: 1 addition & 1 deletion cuda/apps/src/kinect_debayering.cpp
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Expand Up @@ -73,7 +73,7 @@ class SimpleKinectTool
cv::namedWindow("test", CV_WINDOW_AUTOSIZE);
pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id);

std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image)> f = boost::bind (&SimpleKinectTool::cloud_cb_, this, _1);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image)> f = std::bind (&SimpleKinectTool::cloud_cb_, this, _1);

boost::signals2::connection c = interface->registerCallback (f);

Expand Down
2 changes: 1 addition & 1 deletion cuda/apps/src/kinect_dediscretize.cpp
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Expand Up @@ -77,7 +77,7 @@ class SimpleKinectTool
{
pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id);

std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&SimpleKinectTool::cloud_cb_, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&SimpleKinectTool::cloud_cb_, this, _1, _2, _3);

boost::signals2::connection c = interface->registerCallback (f);

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6 changes: 3 additions & 3 deletions cuda/apps/src/kinect_mapping.cpp
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Expand Up @@ -243,18 +243,18 @@ class MultiRansac
if (use_device)
{
std::cerr << "[RANSAC] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&MultiRansac::cloud_cb<pcl_cuda::Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&MultiRansac::cloud_cb<pcl_cuda::Device>, this, _1, _2, _3);
c = interface->registerCallback (f);
}
else
{
std::cerr << "[RANSAC] Using CPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&MultiRansac::cloud_cb<pcl_cuda::Host>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&MultiRansac::cloud_cb<pcl_cuda::Host>, this, _1, _2, _3);
c = interface->registerCallback (f);
}

if (use_viewer)
viewer.runOnVisualizationThread (boost::bind(&MultiRansac::viz_cb, this, _1), "viz_cb");
viewer.runOnVisualizationThread (std::bind(&MultiRansac::viz_cb, this, _1), "viz_cb");

interface->start ();

Expand Down
10 changes: 5 additions & 5 deletions cuda/apps/src/kinect_normals_cuda.cpp
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Expand Up @@ -194,13 +194,13 @@ class NormalEstimation
if (use_device)
{
std::cerr << "[NormalEstimation] Using GPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&NormalEstimation::file_cloud_cb<Device>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&NormalEstimation::file_cloud_cb<Device>, this, _1);
filegrabber->registerCallback (f);
}
else
{
std::cerr << "[NormalEstimation] Using CPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&NormalEstimation::file_cloud_cb<Host>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&NormalEstimation::file_cloud_cb<Host>, this, _1);
filegrabber->registerCallback (f);
}

Expand All @@ -219,17 +219,17 @@ class NormalEstimation
if (use_device)
{
std::cerr << "[NormalEstimation] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&NormalEstimation::cloud_cb<Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&NormalEstimation::cloud_cb<Device>, this, _1, _2, _3);
c = grabber->registerCallback (f);
}
else
{
std::cerr << "[NormalEstimation] Using CPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&NormalEstimation::cloud_cb<Host>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&NormalEstimation::cloud_cb<Host>, this, _1, _2, _3);
c = grabber->registerCallback (f);
}

viewer.runOnVisualizationThread (boost::bind(&NormalEstimation::viz_cb, this, _1), "viz_cb");
viewer.runOnVisualizationThread (std::bind(&NormalEstimation::viz_cb, this, _1), "viz_cb");

grabber->start ();

Expand Down
8 changes: 4 additions & 4 deletions cuda/apps/src/kinect_planes_cuda.cpp
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Expand Up @@ -254,18 +254,18 @@ class MultiRansac
if (use_device)
{
std::cerr << "[RANSAC] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&MultiRansac::cloud_cb<Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&MultiRansac::cloud_cb<Device>, this, _1, _2, _3);
c = interface->registerCallback (f);
}
else
{
std::cerr << "[RANSAC] Using CPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&MultiRansac::cloud_cb<Host>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&MultiRansac::cloud_cb<Host>, this, _1, _2, _3);
c = interface->registerCallback (f);
}

if (use_viewer)
viewer.runOnVisualizationThread (boost::bind(&MultiRansac::viz_cb, this, _1), "viz_cb");
viewer.runOnVisualizationThread (std::bind(&MultiRansac::viz_cb, this, _1), "viz_cb");

interface->start ();

Expand All @@ -283,7 +283,7 @@ class MultiRansac
//else
// std::cerr << "did not find file" << std::endl;
//
//std::function<void(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&) > f = boost::bind (&MultiRansac::logo_cb, this, _1);
//std::function<void(const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&) > f = std::bind (&MultiRansac::logo_cb, this, _1);
//boost::signals2::connection c1 = filegrabber->registerCallback (f);

//filegrabber->start ();
Expand Down
8 changes: 4 additions & 4 deletions cuda/apps/src/kinect_ransac.cpp
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Expand Up @@ -169,13 +169,13 @@ class SimpleKinectTool
if (use_device)
{
std::cerr << "[RANSAC] Using GPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&SimpleKinectTool::file_cloud_cb<pcl_cuda::Device>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&SimpleKinectTool::file_cloud_cb<pcl_cuda::Device>, this, _1);
filegrabber->registerCallback (f);
}
else
{
std::cerr << "[RANSAC] Using CPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&SimpleKinectTool::file_cloud_cb<pcl_cuda::Host>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&SimpleKinectTool::file_cloud_cb<pcl_cuda::Host>, this, _1);
filegrabber->registerCallback (f);
}

Expand All @@ -197,13 +197,13 @@ class SimpleKinectTool
if (use_device)
{
std::cerr << "[RANSAC] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&SimpleKinectTool::cloud_cb<pcl_cuda::Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&SimpleKinectTool::cloud_cb<pcl_cuda::Device>, this, _1, _2, _3);
c = interface->registerCallback (f);
}
else
{
std::cerr << "[RANSAC] Using CPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&SimpleKinectTool::cloud_cb<pcl_cuda::Host>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&SimpleKinectTool::cloud_cb<pcl_cuda::Host>, this, _1, _2, _3);
c = interface->registerCallback (f);
}

Expand Down
10 changes: 5 additions & 5 deletions cuda/apps/src/kinect_segmentation_cuda.cpp
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Expand Up @@ -368,13 +368,13 @@ class Segmentation
if (use_device)
{
std::cerr << "[Segmentation] Using GPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&Segmentation::file_cloud_cb<Device>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&Segmentation::file_cloud_cb<Device>, this, _1);
filegrabber->registerCallback (f);
}
else
{
// std::cerr << "[Segmentation] Using CPU..." << std::endl;
// std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&Segmentation::file_cloud_cb<Host>, this, _1);
// std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&Segmentation::file_cloud_cb<Host>, this, _1);
// filegrabber->registerCallback (f);
}

Expand All @@ -393,17 +393,17 @@ class Segmentation
if (use_device)
{
std::cerr << "[Segmentation] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&Segmentation::cloud_cb<Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&Segmentation::cloud_cb<Device>, this, _1, _2, _3);
c = grabber->registerCallback (f);
}
else
{
// std::cerr << "[Segmentation] Using CPU..." << std::endl;
// std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&Segmentation::cloud_cb<Host>, this, _1, _2, _3);
// std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&Segmentation::cloud_cb<Host>, this, _1, _2, _3);
// c = grabber->registerCallback (f);
}

viewer.runOnVisualizationThread (boost::bind(&Segmentation::viz_cb, this, _1), "viz_cb");
viewer.runOnVisualizationThread (std::bind(&Segmentation::viz_cb, this, _1), "viz_cb");

grabber->start ();

Expand Down
10 changes: 5 additions & 5 deletions cuda/apps/src/kinect_segmentation_planes_cuda.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -243,13 +243,13 @@ class Segmentation
if (use_device)
{
std::cerr << "[Segmentation] Using GPU..." << std::endl;
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&Segmentation::file_cloud_cb<Device>, this, _1);
std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&Segmentation::file_cloud_cb<Device>, this, _1);
filegrabber->registerCallback (f);
}
else
{
// std::cerr << "[Segmentation] Using CPU..." << std::endl;
// std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = boost::bind (&Segmentation::file_cloud_cb<Host>, this, _1);
// std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&)> f = std::bind (&Segmentation::file_cloud_cb<Host>, this, _1);
// filegrabber->registerCallback (f);
}

Expand All @@ -268,17 +268,17 @@ class Segmentation
if (use_device)
{
std::cerr << "[Segmentation] Using GPU..." << std::endl;
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&Segmentation::cloud_cb<Device>, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&Segmentation::cloud_cb<Device>, this, _1, _2, _3);
c = grabber->registerCallback (f);
}
else
{
// std::cerr << "[Segmentation] Using CPU..." << std::endl;
// std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&Segmentation::cloud_cb<Host>, this, _1, _2, _3);
// std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&Segmentation::cloud_cb<Host>, this, _1, _2, _3);
// c = grabber->registerCallback (f);
}

viewer.runOnVisualizationThread (boost::bind(&Segmentation::viz_cb, this, _1), "viz_cb");
viewer.runOnVisualizationThread (std::bind(&Segmentation::viz_cb, this, _1), "viz_cb");

grabber->start ();

Expand Down
2 changes: 1 addition & 1 deletion cuda/apps/src/kinect_tool_standalone.cpp
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Expand Up @@ -78,7 +78,7 @@ class SimpleKinectTool
{
pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id);

std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = boost::bind (&SimpleKinectTool::cloud_cb_, this, _1, _2, _3);
std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)> f = std::bind (&SimpleKinectTool::cloud_cb_, this, _1, _2, _3);

boost::signals2::connection c = interface->registerCallback (f);

Expand Down
2 changes: 1 addition & 1 deletion cuda/apps/src/kinect_viewer_cuda.cpp
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Expand Up @@ -77,7 +77,7 @@ class KinectViewerCuda
pcl::Grabber* interface = new pcl::OpenNIGrabber(device_id);

std::function<void (const boost::shared_ptr<openni_wrapper::Image>& image, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_image, float)>
f = boost::bind (&KinectViewerCuda::cloud_cb_, this, _1, _2, _3);
f = std::bind (&KinectViewerCuda::cloud_cb_, this, _1, _2, _3);

boost::signals2::connection c = interface->registerCallback (f);

Expand Down