Use emplace_back instead of push_back

filters/include/pcl/filters/impl/covariance_sampling.hpp

@@ -164,7 +164,7 @@ pcl::CovarianceSampling<PointT, PointNT>::applyFilter (Indices &sampled_indices)
   for (std::size_t i = 0; i < 6; ++i)
   {
     for (std::size_t p_i = 0; p_i < candidate_indices.size (); ++p_i)
-      L[i].push_back (std::make_pair (p_i, std::abs (v[p_i].dot (x.block<6, 1> (0, i)))));
+      L[i].emplace_back(p_i, std::abs (v[p_i].dot (x.block<6, 1> (0, i))));
 
     // Sort in decreasing order
     L[i].sort (sort_dot_list_function);

io/include/pcl/io/grabber.h

@@ -300,7 +300,7 @@ namespace pcl
     boost::signals2::connection ret = signal->connect (callback);
 
     connections_[typeid (T).name ()].push_back (ret);
-    shared_connections_[typeid (T).name ()].push_back (boost::signals2::shared_connection_block (connections_[typeid (T).name ()].back (), false));
+    shared_connections_[typeid (T).name ()].emplace_back(connections_[typeid (T).name ()].back (), false);
     signalsChanged ();
     return (ret);
   }

io/src/ply_io.cpp

@@ -435,7 +435,7 @@ pcl::PLYReader::vertexEndCallback ()
 void
 pcl::PLYReader::rangeGridBeginCallback ()
 {
-  range_grid_->push_back (std::vector <int> ());
+  range_grid_->emplace_back();
 }
 
 void
@@ -459,7 +459,7 @@ pcl::PLYReader::rangeGridEndCallback () {}
 void
 pcl::PLYReader::faceBeginCallback ()
 {
-  polygons_->push_back (pcl::Vertices ());
+  polygons_->emplace_back();
 }
 
 void

io/src/vtk_lib_io.cpp

@@ -410,7 +410,7 @@ pcl::io::vtk2mesh (const vtkSmartPointer<vtkPolyData>& poly_data, pcl::TextureMe
     {
       float tex[2];
       texture_coords->GetTupleValue (i, tex);
-      mesh.tex_coordinates.front ().push_back (Eigen::Vector2f (tex[0], tex[1]));
+      mesh.tex_coordinates.front ().emplace_back(tex[0], tex[1]);
     }
   }
   else

keypoints/src/narf_keypoint.cpp

@@ -555,7 +555,7 @@ NarfKeypoint::calculateSparseInterestImage ()
                                        static_cast<int> (pcl_lrint (std::floor ( (angle+deg2rad (90.0f))/deg2rad (180.0f) * angle_histogram_size))));
       float& histogram_value = angle_histogram[histogram_cell];
       histogram_value = (std::max) (histogram_value, surface_change_score);
-      angle_elements[histogram_cell].push_back (std::make_pair(index2, surface_change_score));
+      angle_elements[histogram_cell].emplace_back(index2, surface_change_score);
     }
 
     // Reset was_touched to false

recognition/src/ransac_based/model_library.cpp

@@ -173,7 +173,7 @@ ModelLibrary::addToHashTable (Model* model, const ORROctree::Node::Data* data1,
   HashTableCell* cell = hash_table_.getVoxel (key);
 
   // Insert the pair (data1,data2) belonging to 'model'
-  (*cell)[model].push_back (std::pair<const ORROctree::Node::Data*, const ORROctree::Node::Data*> (data1, data2));
+  (*cell)[model].emplace_back(data1, data2);
 
   return (true);
 }

registration/include/pcl/registration/impl/ia_fpcs.hpp

@@ -621,8 +621,8 @@ pcl::registration::FPCSInitialAlignment<PointSource, PointTarget, NormalT, Scala
             continue;
         }
 
-        pairs.push_back(pcl::Correspondence(*it_in, *it_out, dist));
-        pairs.push_back(pcl::Correspondence(*it_out, *it_in, dist));
+        pairs.emplace_back(*it_in, *it_out, dist);
+        pairs.emplace_back(*it_out, *it_in, dist);
       }
     }
   }
@@ -766,10 +766,10 @@ pcl::registration::FPCSInitialAlignment<PointSource, PointTarget, NormalT, Scala
   for (auto& match : matches) {
     Eigen::Matrix4f transformation_temp;
     pcl::Correspondences correspondences_temp;
-    correspondences_temp.push_back(pcl::Correspondence(match[0], base_indices[0], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[1], base_indices[1], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[2], base_indices[2], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[3], base_indices[3], 0.0));
+    correspondences_temp.emplace_back(match[0], base_indices[0], 0.0);
+    correspondences_temp.emplace_back(match[1], base_indices[1], 0.0);
+    correspondences_temp.emplace_back(match[2], base_indices[2], 0.0);
+    correspondences_temp.emplace_back(match[3], base_indices[3], 0.0);
 
     // check match based on residuals of the corresponding points after
     if (validateMatch(base_indices, match, correspondences_temp, transformation_temp) <
@@ -837,7 +837,7 @@ pcl::registration::FPCSInitialAlignment<PointSource, PointTarget, NormalT, Scala
     }
 
     // assign new correspondence and update indices of matched targets
-    correspondences.push_back(pcl::Correspondence(best_index, *it_base, best_diff_sqr));
+    correspondences.emplace_back(best_index, *it_base, best_diff_sqr);
     *it_match_orig = best_index;
   }
 }

registration/include/pcl/registration/impl/ia_kfpcs.hpp

@@ -130,10 +130,10 @@ KFPCSInitialAlignment<PointSource, PointTarget, NormalT, Scalar>::handleMatches(
         std::numeric_limits<float>::max(); // reset to std::numeric_limits<float>::max()
                                            // to accept all candidates and not only best
 
-    correspondences_temp.push_back(pcl::Correspondence(match[0], base_indices[0], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[1], base_indices[1], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[2], base_indices[2], 0.0));
-    correspondences_temp.push_back(pcl::Correspondence(match[3], base_indices[3], 0.0));
+    correspondences_temp.emplace_back(match[0], base_indices[0], 0.0);
+    correspondences_temp.emplace_back(match[1], base_indices[1], 0.0);
+    correspondences_temp.emplace_back(match[2], base_indices[2], 0.0);
+    correspondences_temp.emplace_back(match[3], base_indices[3], 0.0);
 
     // check match based on residuals of the corresponding points after transformation
     if (validateMatch(base_indices, match, correspondences_temp, transformation_temp) <
@@ -145,8 +145,7 @@ KFPCSInitialAlignment<PointSource, PointTarget, NormalT, Scalar>::handleMatches(
     validateTransformation(transformation_temp, fitness_score);
 
     // store all valid match as well as associated score and transformation
-    candidates.push_back(
-        MatchingCandidate(fitness_score, correspondences_temp, transformation_temp));
+    candidates.emplace_back(fitness_score, correspondences_temp, transformation_temp);
   }
   // make sure that candidate with best fitness score is at the front, for early
   // termination check

simulation/src/model.cpp

@@ -24,10 +24,10 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg)
     for (const auto& polygon : plg->polygons) {
       for (const auto& point : polygon.vertices) {
         tmp = newcloud[point].getVector4fMap();
-        vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
-                                  Eigen::Vector3f(newcloud[point].r / 255.0f,
-                                                  newcloud[point].g / 255.0f,
-                                                  newcloud[point].b / 255.0f)));
+        vertices.emplace_back(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
+                              Eigen::Vector3f(newcloud[point].r / 255.0f,
+                                              newcloud[point].g / 255.0f,
+                                              newcloud[point].b / 255.0f));
         indices.push_back(indices.size());
       }
     }
@@ -39,8 +39,8 @@ pcl::simulation::TriangleMeshModel::TriangleMeshModel(pcl::PolygonMesh::Ptr plg)
     for (const auto& polygon : plg->polygons) {
       for (const auto& point : polygon.vertices) {
         tmp = newcloud[point].getVector4fMap();
-        vertices.push_back(Vertex(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
-                                  Eigen::Vector3f(1.0, 1.0, 1.0)));
+        vertices.emplace_back(Eigen::Vector3f(tmp(0), tmp(1), tmp(2)),
+                              Eigen::Vector3f(1.0, 1.0, 1.0));
         indices.push_back(indices.size());
       }
     }