integrating c++17 fixes from #959 (ref:https://github.com/flann-lib/flann/pull/392), fixed pop_t error (https://github.com/flann-lib/flann/commit/b6e37553de0dd47dc8fc9035ba5aef163981b6a4)

CMakeLists.txt

@@ -298,6 +298,9 @@ IF(WITH_QT)
 
     # If Qt is here, the GUI will be built
     IF(NOT(${VTK_MAJOR_VERSION} LESS 9))
+	  IF(NOT VTK_QT_VERSION)
+	    MESSAGE(FATAL_ERROR "WITH_QT option is ON, but VTK ${VTK_MAJOR_VERSION} has not been built with Qt support, disabling Qt.")
+	  ENDIF()
       MESSAGE(STATUS "VTK>=9 detected, will use VTK_QT_VERSION=${VTK_QT_VERSION} for Qt version.")
       IF(${VTK_QT_VERSION} EQUAL 6)
         FIND_PACKAGE(Qt6 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)

corelib/include/rtabmap/core/FlannIndex.h

@@ -41,10 +41,10 @@ public:
 	virtual ~FlannIndex();
 
 	void release();
-	unsigned int indexedFeatures() const;
+	size_t indexedFeatures() const;
 
 	// return Bytes
-	unsigned long memoryUsed() const;
+	size_t memoryUsed() const;
 
 	// Note that useDistanceL1 doesn't have any effect if LSH is used
 	void buildLinearIndex(

corelib/src/FlannIndex.cpp

@@ -80,7 +80,7 @@ void FlannIndex::release()
 	UDEBUG("");
 }
 
-unsigned int FlannIndex::indexedFeatures() const
+size_t FlannIndex::indexedFeatures() const
 {
 	if(!index_)
 	{
@@ -108,13 +108,13 @@ unsigned int FlannIndex::indexedFeatures() const
 }
 
 // return Bytes
-unsigned long FlannIndex::memoryUsed() const
+size_t FlannIndex::memoryUsed() const
 {
 	if(!index_)
 	{
 		return 0;
 	}
-	unsigned long memoryUsage = sizeof(FlannIndex);
+	size_t memoryUsage = sizeof(FlannIndex);
 	memoryUsage += addedDescriptors_.size() * (sizeof(int) + sizeof(cv::Mat) + sizeof(std::map<int, cv::Mat>::iterator)) + sizeof(std::map<int, cv::Mat>);
 	memoryUsage += sizeof(std::list<int>) + removedIndexes_.size() * sizeof(int);
 	if(featuresType_ == CV_8UC1)

corelib/src/SimpleIni.h

@@ -324,7 +324,10 @@ public:
 #endif
 
         /** Strict less ordering by name of key only */
-        struct KeyOrder : std::binary_function<Entry, Entry, bool> {
+        struct KeyOrder {
+            using result_type = bool;
+            using first_argument_type = Entry;
+            using second_argument_type = Entry;
             bool operator()(const Entry & lhs, const Entry & rhs) const {
                 const static SI_STRLESS isLess = SI_STRLESS();
                 return isLess(lhs.pItem, rhs.pItem);
@@ -332,7 +335,10 @@ public:
         };
 
         /** Strict less ordering by order, and then name of key */
-        struct LoadOrder : std::binary_function<Entry, Entry, bool> {
+        struct LoadOrder {
+            using result_type = bool;
+            using first_argument_type = Entry;
+            using second_argument_type = Entry;
             bool operator()(const Entry & lhs, const Entry & rhs) const {
                 if (lhs.nOrder != rhs.nOrder) {
                     return lhs.nOrder < rhs.nOrder;

corelib/src/rtflann/algorithms/dist.h

@@ -477,6 +477,10 @@ struct HammingPopcnt
     ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
     {
         ResultType result = 0;
+
+        //for portability just use unsigned long -- and use the __builtin_popcountll (see docs for __builtin_popcountll)
+        typedef unsigned long long pop_t;
+
 #if __GNUC__
 #if ANDROID && HAVE_NEON
         static uint64_t features = android_getCpuFeatures();

corelib/src/rtflann/algorithms/kdtree_index.h

@@ -37,6 +37,7 @@
 #include <cstring>
 #include <stdarg.h>
 #include <cmath>
+#include <random>
 
 #include "rtflann/general.h"
 #include "rtflann/algorithms/nn_index.h"
@@ -677,7 +678,9 @@ protected:
         /* Construct the randomized trees. */
         for (int i = 0; i < trees_; i++) {
             /* Randomize the order of vectors to allow for unbiased sampling. */
-            std::random_shuffle(ind.begin(), ind.end());
+            std::random_device rd;
+            std::mt19937 g(rd());
+            std::shuffle(ind.begin(), ind.end(), g);
             tree_roots_[i] = divideTree(&ind[0], int(size_) );
         }
         delete[] mean_;

corelib/src/rtflann/util/heap.h

@@ -115,8 +115,11 @@ public:
         count = 0;
     }
 
-    struct CompareT : public std::binary_function<T,T,bool>
+    struct CompareT
     {
+        using result_type = bool;
+        using first_argument_type = T;
+        using second_argument_type = T;
         bool operator()(const T& t_1, const T& t_2) const
         {
             return t_2 < t_1;

corelib/src/rtflann/util/lsh_table.h

@@ -47,6 +47,7 @@
 #endif
 #include <math.h>
 #include <stddef.h>
+#include <random>
 
 #include "rtflann/util/dynamic_bitset.h"
 #include "rtflann/util/matrix.h"
@@ -364,7 +365,9 @@ inline LshTable<unsigned char>::LshTable(unsigned int feature_size, unsigned int
     // A bit brutal but fast to code
     std::vector<size_t> indices(feature_size * CHAR_BIT);
     for (size_t i = 0; i < feature_size * CHAR_BIT; ++i) indices[i] = i;
-    std::random_shuffle(indices.begin(), indices.end());
+    std::random_device rd;
+    std::mt19937 g(rd());
+    std::shuffle(indices.begin(), indices.end(), g);
 
     // Generate a random set of order of subsignature_size_ bits
     for (unsigned int i = 0; i < key_size_; ++i) {

corelib/src/rtflann/util/random.h

@@ -35,6 +35,7 @@
 #include <cstdlib>
 #include <cstddef>
 #include <vector>
+#include <random>
 
 #include "rtflann/general.h"
 
@@ -76,13 +77,6 @@ inline int rand_int(int high = RAND_MAX, int low = 0)
 }
 
 
-class RandomGenerator
-{
-public:
-    ptrdiff_t operator() (ptrdiff_t i) { return rand_int(i); }
-};
-
-
 /**
  * Random number generator that returns a distinct number from
  * the [0,n) interval each time.
@@ -110,14 +104,15 @@ public:
      */
     void init(int n)
     {
-        static RandomGenerator generator;
         // create and initialize an array of size n
         vals_.resize(n);
         size_ = n;
         for (int i = 0; i < size_; ++i) vals_[i] = i;
 
         // shuffle the elements in the array
-        std::random_shuffle(vals_.begin(), vals_.end(), generator);
+        std::random_device rd;
+        std::mt19937 g(rd());
+        std::shuffle(vals_.begin(), vals_.end(), g);
 
         counter_ = 0;
     }