Enable C++17 filesystem in the future (PointCloudLibrary#5921)

* Enable C++17 filesystem

* Fix format complaint

* Fix ubuntu build error

* Fix apps build error

* Fix format complaint

* Switch Ubuntu 23.04 to C++17

* Revert doc/tutorials and outofcore

* Revert examples/outofcore

* Revert test/outofcore

* Revert recognition

* Fix apps/face_detection build error

* Address review

* Address more review

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

@@ -81,7 +81,7 @@ class MeshSource : public Source<PointInT> {
   loadOrGenerate(std::string& dir, std::string& model_path, ModelT& model)
   {
     const std::string pathmodel = dir + '/' + model.class_ + '/' + model.id_;
-    bf::path trained_dir = pathmodel;
+    pcl_fs::path trained_dir = pathmodel;
 
     model.views_.reset(new std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr>);
     model.poses_.reset(
@@ -90,12 +90,12 @@ class MeshSource : public Source<PointInT> {
     model.assembled_.reset(new pcl::PointCloud<pcl::PointXYZ>);
     uniform_sampling(model_path, 100000, *model.assembled_, model_scale_);
 
-    if (bf::exists(trained_dir)) {
+    if (pcl_fs::exists(trained_dir)) {
       // load views, poses and self-occlusions
       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(dir_entry))) {
+        if (!(pcl_fs::is_directory(dir_entry))) {
           // check that it is a ply file and then add, otherwise ignore..
           std::vector<std::string> strs;
           std::vector<std::string> strs_;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp

@@ -17,7 +17,7 @@ pcl::rec_3d_framework::GlobalNNPipeline<Distance, PointInT, FeatureT>::
     std::string path =
         source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-    for (const auto& dir_entry : bf::directory_iterator(path)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path)) {
       std::string file_name = (dir_entry.path().filename()).string();
 
       std::vector<std::string> strs;
@@ -177,9 +177,9 @@ pcl::rec_3d_framework::GlobalNNPipeline<Distance, PointInT, FeatureT>::initializ
         std::string path =
             source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-        bf::path desc_dir = path;
-        if (!bf::exists(desc_dir))
-          bf::create_directory(desc_dir);
+        pcl_fs::path desc_dir = path;
+        if (!pcl_fs::exists(desc_dir))
+          pcl_fs::create_directory(desc_dir);
 
         const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd";
         pcl::io::savePCDFileBinary(path_view, *processed);

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -91,7 +91,7 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::
     std::string path =
         source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-    for (const auto& dir_entry : bf::directory_iterator(path)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path)) {
       std::string file_name = (dir_entry.path().filename()).string();
 
       std::vector<std::string> strs;
@@ -412,9 +412,9 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::init
         std::string path =
             source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-        bf::path desc_dir = path;
-        if (!bf::exists(desc_dir))
-          bf::create_directory(desc_dir);
+        pcl_fs::path desc_dir = path;
+        if (!pcl_fs::exists(desc_dir))
+          pcl_fs::create_directory(desc_dir);
 
         const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd";
         pcl::io::savePCDFileBinary(path_view, *processed);

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -51,8 +51,8 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::
   const std::string dir = path + "/roll_trans_" + std::to_string(view_id) + '_' +
                           std::to_string(d_id) + ".txt";
 
-  const bf::path file_path = dir;
-  if (bf::exists(file_path)) {
+  const pcl_fs::path file_path = dir;
+  if (pcl_fs::exists(file_path)) {
     PersistenceUtils::readMatrixFromFile(dir, pose_matrix);
     return true;
   }
@@ -108,7 +108,7 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::
     std::string path =
         source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-    for (const auto& dir_entry : bf::directory_iterator(path)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path)) {
       std::string file_name = (dir_entry.path().filename()).string();
 
       std::vector<std::string> strs;
@@ -608,9 +608,9 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::ini
         std::string path =
             source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-        bf::path desc_dir = path;
-        if (!bf::exists(desc_dir))
-          bf::create_directory(desc_dir);
+        pcl_fs::path desc_dir = path;
+        if (!pcl_fs::exists(desc_dir))
+          pcl_fs::create_directory(desc_dir);
 
         const std::string path_view = path + "/view_" + std::to_string(v) + ".pcd";
         pcl::io::savePCDFileBinary(path_view, *processed);

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp

@@ -20,7 +20,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::
     std::string path =
         source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-    for (const auto& dir_entry : bf::directory_iterator(path)) {
+    for (const auto& dir_entry : pcl_fs::directory_iterator(path)) {
       std::string file_name = (dir_entry.path().filename()).string();
 
       std::vector<std::string> strs;
@@ -150,9 +150,9 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::
           std::string path =
               source_->getModelDescriptorDir(models->at(i), training_dir_, descr_name_);
 
-          bf::path desc_dir = path;
-          if (!bf::exists(desc_dir))
-            bf::create_directory(desc_dir);
+          pcl_fs::path desc_dir = path;
+          if (!pcl_fs::exists(desc_dir))
+            pcl_fs::create_directory(desc_dir);
 
           const std::string path_view = path = "/view_" + std::to_string(v) + ".pcd";
           pcl::io::savePCDFileBinary(path_view, *processed);

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h

@@ -1,7 +1,14 @@
 #include <pcl/io/pcd_io.h>
 
 #include <boost/algorithm/string.hpp>
+
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
 #include <boost/filesystem.hpp>
+namespace pcl_fs = boost::filesystem;
+#endif
 
 #include <fstream>
 

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

@@ -22,17 +22,17 @@
 #include <flann/algorithms/dist.h>
 
 void
-getScenesInDirectory(bf::path& dir,
+getScenesInDirectory(pcl_fs::path& dir,
                      std::string& rel_path_so_far,
                      std::vector<std::string>& relative_paths)
 {
   // list models in MODEL_FILES_DIR_ and return list
-  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();
       getScenesInDirectory(curr_path, so_far, relative_paths);
     }
     else {
@@ -86,7 +86,7 @@ recognizeAndVisualize(
 {
 
   // read mians scenes
-  bf::path ply_files_dir = scenes_dir;
+  pcl_fs::path ply_files_dir = scenes_dir;
   std::vector<std::string> files;
   std::string start;
   getScenesInDirectory(ply_files_dir, start, files);
@@ -223,18 +223,18 @@ recognizeAndVisualize(
 }
 
 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 {
@@ -315,16 +315,16 @@ main(int argc, char** argv)
     return -1;
   }
 
-  bf::path models_dir_path = path;
-  if (!bf::exists(models_dir_path)) {
+  pcl_fs::path models_dir_path = path;
+  if (!pcl_fs::exists(models_dir_path)) {
     PCL_ERROR("Models dir path %s does not exist, use -models_dir [dir] option\n",
               path.c_str());
     return -1;
   }
   std::vector<std::string> files;
   std::string start;
   std::string ext = std::string("ply");
-  bf::path dir = models_dir_path;
+  pcl_fs::path dir = models_dir_path;
   getModelsInDirectory(dir, start, files, ext);
   assert(files.size() == 4);
 

apps/in_hand_scanner/src/offline_integration.cpp

@@ -45,7 +45,14 @@
 #include <pcl/io/pcd_io.h>
 
 #include <boost/algorithm/string/case_conv.hpp>
+
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
 #include <boost/filesystem.hpp>
+namespace pcl_fs = boost::filesystem;
+#endif
 
 #include <QApplication>
 #include <QFileDialog>
@@ -186,14 +193,14 @@ pcl::ihs::OfflineIntegration::getFilesFromDirectory(
     const std::string& extension,
     std::vector<std::string>& files) const
 {
-  if (path_dir.empty() || !boost::filesystem::exists(path_dir)) {
+  if (path_dir.empty() || !pcl_fs::exists(path_dir)) {
     std::cerr << "ERROR in offline_integration.cpp: Invalid path\n  '" << path_dir
               << "'\n";
     return (false);
   }
 
-  boost::filesystem::directory_iterator it_end;
-  for (boost::filesystem::directory_iterator it(path_dir); it != it_end; ++it) {
+  pcl_fs::directory_iterator it_end;
+  for (pcl_fs::directory_iterator it(path_dir); it != it_end; ++it) {
     if (!is_directory(it->status()) &&
         boost::algorithm::to_upper_copy(it->path().extension().string()) ==
             boost::algorithm::to_upper_copy(extension)) {

apps/include/pcl/apps/face_detection/face_detection_apps_utils.h

@@ -7,6 +7,14 @@
 
 #pragma once
 
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
+#include <boost/filesystem.hpp>
+namespace pcl_fs = boost::filesystem;
+#endif
+
 namespace face_detection_apps_utils {
 
 inline bool
@@ -65,18 +73,18 @@ sortFiles(const std::string& file1, const std::string& file2)
 }
 
 inline void
-getFilesInDirectory(bf::path& dir,
+getFilesInDirectory(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();
       getFilesInDirectory(curr_path, so_far, relative_paths, ext);
     }
     else {

apps/include/pcl/apps/pcd_video_player.h

@@ -42,7 +42,13 @@
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
 #include <boost/filesystem.hpp>
+namespace pcl_fs = boost::filesystem;
+#endif
 
 #include <QMainWindow>
 #include <QMutex>
@@ -100,7 +106,7 @@ class PCDVideoPlayer : public QMainWindow {
   QString dir_;
 
   std::vector<std::string> pcd_files_;
-  std::vector<boost::filesystem::path> pcd_paths_;
+  std::vector<pcl_fs::path> pcd_paths_;
 
   /** \brief The current displayed frame */
   unsigned int current_frame_;

apps/src/face_detection/filesystem_face_detection.cpp

@@ -13,9 +13,13 @@
 #include <pcl/apps/face_detection/face_detection_apps_utils.h>
 // clang-format on
 
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
 #include <boost/filesystem.hpp>
-
-namespace bf = boost::filesystem;
+namespace pcl_fs = boost::filesystem;
+#endif
 
 bool SHOW_GT = false;
 bool VIDEO = false;
@@ -222,7 +226,7 @@ main(int argc, char** argv)
     // recognize all files in directory...
     std::string start;
     std::string ext = std::string("pcd");
-    bf::path dir = test_directory;
+    pcl_fs::path dir = test_directory;
 
     std::vector<std::string> files;
     face_detection_apps_utils::getFilesInDirectory(dir, start, files, ext);

apps/src/openni_grab_frame.cpp

@@ -45,7 +45,13 @@
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
+#if (__cplusplus >= 201703L)
+#include <filesystem>
+namespace pcl_fs = std::filesystem;
+#else
 #include <boost/filesystem.hpp>
+namespace pcl_fs = boost::filesystem;
+#endif
 
 #include <mutex>
 
@@ -75,7 +81,6 @@ using namespace std::chrono_literals;
 #endif
 
 using namespace pcl::console;
-using namespace boost::filesystem;
 
 template <typename PointType>
 class OpenNIGrabFrame {
@@ -222,7 +227,7 @@ class OpenNIGrabFrame {
              bool paused,
              bool visualizer)
   {
-    boost::filesystem::path path(filename);
+    pcl_fs::path path(filename);
 
     if (filename.empty()) {
       dir_name_ = ".";
@@ -231,7 +236,7 @@ class OpenNIGrabFrame {
     else {
       dir_name_ = path.parent_path().string();
 
-      if (!dir_name_.empty() && !boost::filesystem::exists(path.parent_path())) {
+      if (!dir_name_.empty() && !pcl_fs::exists(path.parent_path())) {
         std::cerr << "directory \"" << path.parent_path() << "\" does not exist!\n";
         exit(1);
       }

apps/src/openni_grab_images.cpp

@@ -44,12 +44,9 @@
 #include <pcl/visualization/image_viewer.h>
 #include <pcl/point_types.h>
 
-#include <boost/filesystem.hpp>
-
 #include <mutex>
 
 using namespace pcl::console;
-using namespace boost::filesystem;
 
 class OpenNIGrabFrame {
 public:

apps/src/organized_segmentation_demo.cpp

@@ -15,9 +15,6 @@
 #include <vtkRendererCollection.h>
 #include <vtkRenderWindow.h>
 
-// #include <boost/filesystem.hpp>  // for boost::filesystem::directory_iterator
-#include <boost/signals2/connection.hpp> // for boost::signals2::connection
-
 void
 displayPlanarRegions(
     std::vector<pcl::PlanarRegion<PointT>,