Replace Boost filesystem with C++17 std::filesystem

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

@@ -231,7 +231,7 @@ class MeshSource : public Source<PointInT> {
     std::vector<std::string> files;
     std::string start;
     std::string ext = std::string("ply");
-    bf::path dir = path_;
+    pcl_fs::path dir = path_;
     getModelsInDirectory(dir, start, files, ext);
 
     models_.reset(new std::vector<ModelT>);

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

@@ -59,11 +59,12 @@ class RegisteredViewsSource : public Source<PointInT> {
   }
 
   void
-  getViewsFilenames(bf::path& path_with_views, std::vector<std::string>& view_filenames)
+  getViewsFilenames(pcl_fs::path& path_with_views,
+                    std::vector<std::string>& view_filenames)
   {
     int number_of_views = 0;
-    for (const auto& dir_entry : bf::directory_iterator(path_with_views)) {
-      if (!(bf::is_directory(dir_entry))) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path_with_views)) {
+      if (!(pcl_fs::is_directory(dir_entry))) {
         std::vector<std::string> strs;
         std::vector<std::string> strs_;
 
@@ -101,19 +102,19 @@ class RegisteredViewsSource : public Source<PointInT> {
   loadOrGenerate(std::string& dir, std::string& model_path, ModelT& model)
   {
     const std::string pathmodel = dir + '/' + model.class_ + '/' + model.id_;
-    const bf::path trained_dir = pathmodel;
+    const pcl_fs::path trained_dir = pathmodel;
 
     model.views_.reset(new std::vector<typename pcl::PointCloud<PointInT>::Ptr>);
     model.poses_.reset(
         new std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>);
     model.self_occlusions_.reset(new std::vector<float>);
 
-    if (bf::exists(trained_dir)) {
+    if (pcl_fs::exists(trained_dir)) {
       // load views and poses
       std::vector<std::string> view_filenames;
-      for (const auto& dir_entry : bf::directory_iterator(trained_dir)) {
+      for (const auto& dir_entry : pcl_fs::directory_iterator(trained_dir)) {
         // check if its a directory, then get models in it
-        if (!(bf::is_directory(*itr))) {
+        if (!(pcl_fs::is_directory(*itr))) {
           // check that it is a ply file and then add, otherwise ignore..
           std::vector<std::string> strs;
           std::vector<std::string> strs_;
@@ -174,7 +175,7 @@ class RegisteredViewsSource : public Source<PointInT> {
       createClassAndModelDirectories(dir, model.class_, model.id_);
 
       std::vector<std::string> view_filenames;
-      bf::path model_dir = model_path;
+      pcl_fs::path model_dir = model_path;
 
       getViewsFilenames(model_dir, view_filenames);
       std::cout << view_filenames.size() << std::endl;
@@ -213,11 +214,11 @@ class RegisteredViewsSource : public Source<PointInT> {
   }
 
   bool
-  isleafDirectory(bf::path& path)
+  isleafDirectory(pcl_fs::path& path)
   {
     bool no_dirs_inside = true;
-    for (const auto& dir_entry : bf::directory_iterator(path)) {
-      if (bf::is_directory(dir_entry)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path)) {
+      if (pcl_fs::is_directory(dir_entry)) {
         no_dirs_inside = false;
       }
     }
@@ -226,16 +227,16 @@ class RegisteredViewsSource : public Source<PointInT> {
   }
 
   void
-  getModelsInDirectory(bf::path& dir,
+  getModelsInDirectory(pcl_fs::path& dir,
                        std::string& rel_path_so_far,
                        std::vector<std::string>& relative_paths)
   {
-    for (const auto& dir_entry : bf::directory_iterator(dir)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) {
       // check if its a directory, then get models in it
-      if (bf::is_directory(dir_entry)) {
+      if (pcl_fs::is_directory(dir_entry)) {
         std::string so_far =
             rel_path_so_far + (dir_entry.path().filename()).string() + '/';
-        bf::path curr_path = dir_entry.path();
+        pcl_fs::path curr_path = dir_entry.path();
 
         if (isleafDirectory(curr_path)) {
           std::string path = rel_path_so_far + (dir_entry.path().filename()).string();
@@ -262,7 +263,7 @@ class RegisteredViewsSource : public Source<PointInT> {
     // get models in directory
     std::vector<std::string> files;
     std::string start = "";
-    bf::path dir = path_;
+    pcl_fs::path dir = path_;
     getModelsInDirectory(dir, start, files);
 
     models_.reset(new std::vector<ModelT>);

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

@@ -8,12 +8,10 @@
 #pragma once
 
 #include <pcl/apps/3d_rec_framework/utils/persistence_utils.h>
+#include <pcl/common/pcl_filesystem.h>
 #include <pcl/filters/voxel_grid.h>
 
 #include <boost/algorithm/string.hpp>
-#include <boost/filesystem.hpp>
-
-namespace bf = boost::filesystem;
 
 namespace pcl {
 namespace rec_3d_framework {
@@ -91,25 +89,25 @@ class Source {
                             std::string& id,
                             std::string& classname)
   {
-    const bf::path path = filename;
+    const pcl_fs::path path = filename;
     classname = path.parent_path().string() + '/';
     id = path.stem().string();
   }
 
   void
   createTrainingDir(std::string& training_dir)
   {
-    bf::path trained_dir = training_dir;
-    if (!bf::exists(trained_dir))
-      bf::create_directory(trained_dir);
+    pcl_fs::path trained_dir = training_dir;
+    if (!pcl_fs::exists(trained_dir))
+      pcl_fs::create_directory(trained_dir);
   }
 
   void
   createClassAndModelDirectories(std::string& training_dir,
                                  std::string& class_str,
                                  std::string& id_str)
   {
-    bf::create_directories(training_dir + '/' + class_str + '/' + id_str);
+    pcl_fs::create_directories(training_dir + '/' + class_str + '/' + id_str);
   }
 
 public:
@@ -137,18 +135,18 @@ class Source {
   }
 
   void
-  getModelsInDirectory(bf::path& dir,
+  getModelsInDirectory(pcl_fs::path& dir,
                        std::string& rel_path_so_far,
                        std::vector<std::string>& relative_paths,
                        std::string& ext)
   {
-    for (const auto& dir_entry : bf::directory_iterator(dir)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(dir)) {
       // check if its a directory, then get models in it
-      if (bf::is_directory(dir_entry)) {
+      if (pcl_fs::is_directory(dir_entry)) {
         std::string so_far =
             rel_path_so_far + (dir_entry.path().filename()).string() + '/';
 
-        bf::path curr_path = dir_entry.path();
+        pcl_fs::path curr_path = dir_entry.path();
         getModelsInDirectory(curr_path, so_far, relative_paths, ext);
       }
       else {
@@ -205,7 +203,7 @@ class Source {
   bool
   modelAlreadyTrained(ModelT m, std::string& base_dir, std::string& descr_name)
   {
-    return bf::exists(getModelDescriptorDir(m, base_dir, descr_name));
+    return pcl_fs::exists(getModelDescriptorDir(m, base_dir, descr_name));
   }
 
   std::string
@@ -219,9 +217,9 @@ class Source {
   {
     std::string dir = getModelDescriptorDir(m, base_dir, descr_name);
 
-    bf::path desc_dir = dir;
-    if (bf::exists(desc_dir))
-      bf::remove_all(desc_dir);
+    pcl_fs::path desc_dir = dir;
+    if (pcl_fs::exists(desc_dir))
+      pcl_fs::remove_all(desc_dir);
   }
 
   void

cmake/pcl_find_boost.cmake

@@ -13,17 +13,10 @@ else()
   endif()
 endif()
 
-if(CMAKE_CXX_STANDARD MATCHES "14")
-  # Optional boost modules
-  set(BOOST_OPTIONAL_MODULES serialization mpi)
-  # Required boost modules
-  set(BOOST_REQUIRED_MODULES filesystem iostreams)
-else()
-  # Optional boost modules
-  set(BOOST_OPTIONAL_MODULES filesystem serialization mpi)
-  # Required boost modules
-  set(BOOST_REQUIRED_MODULES iostreams)
-endif()
+# Optional boost modules (filesystem no longer needed - using std::filesystem with C++17)
+set(BOOST_OPTIONAL_MODULES serialization mpi)
+# Required boost modules
+set(BOOST_REQUIRED_MODULES iostreams)
 
 find_package(Boost 1.71.0 QUIET COMPONENTS ${BOOST_OPTIONAL_MODULES} CONFIG)
 find_package(Boost 1.71.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES} CONFIG)

cmake/pcl_options.cmake

@@ -45,9 +45,6 @@ set(PCL_QHULL_REQUIRED_TYPE "DONTCARE" CACHE STRING "Select build type to use ST
 set_property(CACHE PCL_QHULL_REQUIRED_TYPE PROPERTY STRINGS DONTCARE SHARED STATIC)
 mark_as_advanced(PCL_QHULL_REQUIRED_TYPE)
 
-option(PCL_PREFER_BOOST_FILESYSTEM "Prefer boost::filesystem over std::filesystem (if compiled as C++17 or higher, std::filesystem is chosen by default)" OFF)
-mark_as_advanced(PCL_PREFER_BOOST_FILESYSTEM)
-
 set(PCL_XYZ_POINT_TYPES "(pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZL)(pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBL)(pcl::PointXYZLAB)(pcl::PointXYZHSV)(pcl::InterestPoint)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZINormal)(pcl::PointXYZLNormal)(pcl::PointWithRange)(pcl::PointWithViewpoint)(pcl::PointWithScale)(pcl::PointSurfel)(pcl::PointDEM)" CACHE STRING "Point types with xyz information for which PCL classes will be instantiated. Alternative to PCL_ONLY_CORE_POINT_TYPES. You can remove unneeded types to reduce compile time and library size.")
 mark_as_advanced(PCL_XYZ_POINT_TYPES)
 

cmake/pcl_pclconfig.cmake

@@ -16,13 +16,6 @@ set(PCLCONFIG_SSE_DEFINITIONS "${SSE_DEFINITIONS}")
 set(PCLCONFIG_SSE_COMPILE_OPTIONS ${SSE_FLAGS})
 set(PCLCONFIG_AVX_COMPILE_OPTIONS ${AVX_FLAGS})
 
-# Eigen has a custom mechanism to guarantee aligned memory (used for everything older than C++17, see Memory.h in the Eigen project)
-# If PCL is compiled with C++14 and the user project is compiled with C++17, this will lead to problems (e.g. memory allocated with the custom mechanism but freed without it)
-# Defining EIGEN_HAS_CXX17_OVERALIGN=0 forces Eigen in the user project to use Eigen's custom mechanism, even in C++17 and newer.
-if(${CMAKE_CXX_STANDARD} LESS 17)
-  string(APPEND PCLCONFIG_SSE_DEFINITIONS " -DEIGEN_HAS_CXX17_OVERALIGN=0")
-endif()
-
 foreach(_ss ${PCL_SUBSYSTEMS_MODULES})
   PCL_GET_SUBSYS_STATUS(_status ${_ss})
 
@@ -85,10 +78,7 @@ foreach(_ss ${PCL_SUBSYSTEMS_MODULES})
 endforeach()
 
 #Boost modules
-set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system iostreams")
-if(Boost_FILESYSTEM_FOUND)
-  string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " filesystem")
-endif()
+set(PCLCONFIG_AVAILABLE_BOOST_MODULES "iostreams")
 if(Boost_SERIALIZATION_FOUND)
   string(APPEND PCLCONFIG_AVAILABLE_BOOST_MODULES " serialization")
 endif()

common/include/pcl/common/pcl_filesystem.h

@@ -38,14 +38,6 @@
 
 #pragma once
 
-#include <pcl/pcl_config.h> // for PCL_PREFER_BOOST_FILESYSTEM
-
-#if (__cplusplus >= 201703L) && !defined(PCL_PREFER_BOOST_FILESYSTEM)
-#define PCL_USING_STD_FILESYSTEM
 #include <filesystem>
+
 namespace pcl_fs = std::filesystem;
-#else
-#define PCL_USING_BOOST_FILESYSTEM
-#include <boost/filesystem.hpp>
-namespace pcl_fs = boost::filesystem;
-#endif

cuda/apps/src/kinect_mapping.cpp

@@ -53,8 +53,6 @@
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/visualization/point_cloud_handlers.h>
 
-#include <boost/filesystem.hpp>
-
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 

doc/tutorials/content/sources/gpu/people_detect/src/people_detect.cpp

@@ -54,7 +54,6 @@
 #include <pcl/io/pcd_grabber.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/png_io.h>
-#include <boost/filesystem.hpp>
 
 #include <iostream>
 

examples/outofcore/example_outofcore.cpp

@@ -56,7 +56,7 @@ int main (int, char** argv)
   Eigen::Vector3d max (10.0, 10.0, 10.0);
 
   //specify the destination of the tree
-  boost::filesystem::path file_location ("tree/tree.oct_idx");
+  pcl_fs::path file_location ("tree/tree.oct_idx");
 
   //create the tree with bounding box that will encompass the region of points in the PCD files
   OctreeDisk* octree;

examples/outofcore/example_outofcore_with_lod.cpp

@@ -55,7 +55,7 @@ int main (int, char** argv)
   int depth = 3;
   Eigen::Vector3d min (-10.0, -10.0, -10.0);
   Eigen::Vector3d max (10.0, 10.0, 10.0);
-  boost::filesystem::path file_location ("tree/tree.oct_idx");
+  pcl_fs::path file_location ("tree/tree.oct_idx");
 
   OctreeDisk* octree;
 

io/CMakeLists.txt

@@ -339,9 +339,6 @@ add_definitions(${VTK_DEFINES})
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
 
 target_link_libraries("${LIB_NAME}" Boost::boost Boost::iostreams pcl_common pcl_io_ply pcl_octree)
-if(TARGET Boost::filesystem)
-  target_link_libraries("${LIB_NAME}" Boost::filesystem)
-endif()
 
 if(VTK_FOUND)
   if(${VTK_VERSION} VERSION_GREATER_EQUAL 9.0)

io/src/pcd_io.cpp

@@ -71,11 +71,7 @@ pcl::PCDWriter::setLockingPermissions (const std::string &file_name,
 
   try
   {
-#ifdef PCL_USING_STD_FILESYSTEM
     pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::add);
-#else
-    pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::add_perms | pcl_fs::set_gid_on_exe);
-#endif
   }
   catch (const std::exception &e)
   {
@@ -95,11 +91,7 @@ pcl::PCDWriter::resetLockingPermissions (const std::string &file_name,
 #ifndef NO_MANDATORY_LOCKING
   try
   {
-#ifdef PCL_USING_STD_FILESYSTEM
     pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::perms::set_gid, pcl_fs::perm_options::remove);
-#else
-    pcl_fs::permissions (pcl_fs::path (file_name), pcl_fs::remove_perms | pcl_fs::set_gid_on_exe);
-#endif
   }
   catch (const std::exception &e)
   {

outofcore/CMakeLists.txt

@@ -6,12 +6,7 @@ else()
 set(SUBSYS_DEPS common io filters octree)
 endif()
 
-if(NOT TARGET Boost::filesystem)
-  set(DEFAULT FALSE)
-  set(REASON "Boost filesystem is not available.")
-else()
-  set(DEFAULT TRUE)
-endif()
+set(DEFAULT TRUE)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
 PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
@@ -76,10 +71,10 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
 
 if(BUILD_visualization)
   PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${visualization_incs})
-  target_link_libraries("${LIB_NAME}" pcl_common pcl_visualization Boost::filesystem)
+  target_link_libraries("${LIB_NAME}" pcl_common pcl_visualization)
 else()
   PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-  target_link_libraries("${LIB_NAME}" pcl_common Boost::filesystem)
+  target_link_libraries("${LIB_NAME}" pcl_common)
 endif()
 if(HAVE_CJSON)
   target_link_libraries("${LIB_NAME}" ${CJSON_LIBRARIES})