[rpms/pcl] f44: Update to release 1.5.1

[Rich Mattes <richmattes@gmail.com>]

            A new commit has been pushed.

            Repo   : rpms/pcl
            Branch : f44
            Commit : 64be9f5ad0524e0a0bcff948de15c59836d36571
            Author : Rich Mattes <richmattes@gmail.com>
            Date   : 2012-04-04T22:15:25-04:00
            Stats  : +98/-538 in 6 file(s)
            URL    : https://src.fedoraproject.org/rpms/pcl/c/64be9f5ad0524e0a0bcff948de15c59836d36571?branch=f44

            Log:
            Update to release 1.5.1

- Add new patch for gcc-4.7 fixes

---
diff --git a/.gitignore b/.gitignore
index 3feb3d2..9cab334 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,3 +4,4 @@
 /PCL-1.3.1-Source.tar.bz2
 /PCL-1.3.1-Source
 /PCL-1.4.0-Source.tar.bz2
+/PCL-1.5.1-Source.tar.bz2

diff --git a/PCL-1.4.0-Source-fedora.patch b/PCL-1.4.0-Source-fedora.patch
index 443ecc5..e59cd5f 100644
--- a/PCL-1.4.0-Source-fedora.patch
+++ b/PCL-1.4.0-Source-fedora.patch
@@ -64,16 +64,10 @@ diff -urN PCL-1.3.1-Source/PCLConfig.cmake.in PCL-1.3.1-Source.fedora/PCLConfig.
 diff -urN PCL-1.3.1-Source/visualization/CMakeLists.txt PCL-1.3.1-Source.fedora/visualization/CMakeLists.txt
 --- PCL-1.3.1-Source/visualization/CMakeLists.txt	2011-12-03 00:35:48.000000000 +0100
 +++ PCL-1.3.1-Source.fedora/visualization/CMakeLists.txt	2012-01-16 19:40:43.437690160 +0100
-@@ -83,9 +83,9 @@
-      target_link_libraries(${LIB_NAME} pcl_io pcl_kdtree pcl_range_image 
-                                        vtkCommon vtkWidgets vtkHybrid)
-     set(EXT_DEPS "")
+@@ -85,3 +85,3 @@
 -    if(OPENNI_FOUND)
 -      list(APPEND EXT_DEPS openni-dev)
 -    endif(OPENNI_FOUND)
 +    #if(OPENNI_FOUND)
 +    #  list(APPEND EXT_DEPS openni-dev)
 +    #endif(OPENNI_FOUND)
-     PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
-       "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
- 

diff --git a/pcl-1.4.0-gcc47.patch b/pcl-1.4.0-gcc47.patch
deleted file mode 100644
index f578e04..0000000
--- a/pcl-1.4.0-gcc47.patch
+++ /dev/null
@@ -1,525 +0,0 @@
-Index: octree/include/pcl/octree/impl/octree_pointcloud.hpp
-===================================================================
---- octree/include/pcl/octree/impl/octree_pointcloud.hpp	(revision 3921)
-+++ octree/include/pcl/octree/impl/octree_pointcloud.hpp	(working copy)
-@@ -724,11 +724,11 @@
-   // iterate over all children
-   for (childIdx = 0; childIdx < 8; childIdx++)
-   {
--    if (!branchHasChild (*node_arg, childIdx))
-+    if (!this->branchHasChild (*node_arg, childIdx))
-       continue;
- 
-     const OctreeNode * childNode;
--    childNode = getBranchChild (*node_arg, childIdx);
-+    childNode = this->getBranchChild (*node_arg, childIdx);
- 
-     // generate new key for current branch voxel
-     OctreeKey newKey;
-Index: octree/include/pcl/octree/impl/octree_search.hpp
-===================================================================
---- octree/include/pcl/octree/impl/octree_search.hpp	(revision 3921)
-+++ octree/include/pcl/octree/impl/octree_search.hpp	(working copy)
-@@ -51,9 +51,9 @@
-   bool b_success = false;
- 
-   // generate key
--  genOctreeKeyforPoint (point, key);
-+  this->genOctreeKeyforPoint (point, key);
- 
--  LeafT* leaf = getLeaf (key);
-+  LeafT* leaf = this->getLeaf (key);
- 
-   if (leaf)
-   {
-@@ -196,7 +196,7 @@
-   // iterate over all children
-   for (childIdx = 0; childIdx < 8; childIdx++)
-   {
--    if (branchHasChild (*node, childIdx))
-+    if (this->branchHasChild (*node, childIdx))
-     {
-       PointT voxelCenter;
- 
-@@ -205,10 +205,10 @@
-       searchEntryHeap[childIdx].key.z = (key.z << 1) + (!!(childIdx & (1 << 0)));
- 
-       // generate voxel center point for voxel at key
--      genVoxelCenterFromOctreeKey (searchEntryHeap[childIdx].key, treeDepth, voxelCenter);
-+      this->genVoxelCenterFromOctreeKey (searchEntryHeap[childIdx].key, treeDepth, voxelCenter);
- 
-       // generate new priority queue element
--      searchEntryHeap[childIdx].node = getBranchChild (*node, childIdx);
-+      searchEntryHeap[childIdx].node = this->getBranchChild (*node, childIdx);
-       searchEntryHeap[childIdx].pointDistance = pointSquaredDist (voxelCenter, point);
-     }
-     else
-@@ -301,11 +301,11 @@
-   // iterate over all children
-   for (childIdx = 0; childIdx < 8; childIdx++)
-   {
--    if (!branchHasChild (*node, childIdx))
-+    if (!this->branchHasChild (*node, childIdx))
-       continue;
- 
-     const OctreeNode* childNode;
--    childNode = getBranchChild (*node, childIdx);
-+    childNode = this->getBranchChild (*node, childIdx);
- 
-     OctreeKey newKey;
-     PointT voxelCenter;
-@@ -317,7 +317,7 @@
-     newKey.z = (key.z << 1) + (!!(childIdx & (1 << 0)));
- 
-     // generate voxel center point for voxel at key
--    genVoxelCenterFromOctreeKey (newKey, treeDepth, voxelCenter);
-+    this->genVoxelCenterFromOctreeKey (newKey, treeDepth, voxelCenter);
- 
-     // calculate distance to search point
-     squaredDist = pointSquaredDist ((const PointT &)voxelCenter, point);
-@@ -393,7 +393,7 @@
-   // iterate over all children
-   for (childIdx = 0; childIdx < 8; childIdx++)
-   {
--    if (!branchHasChild (*node, childIdx))
-+    if (!this->branchHasChild (*node, childIdx))
-       continue;
- 
-     PointT voxelCenter;
-@@ -404,7 +404,7 @@
-     newKey.z = (key.z << 1) + (!!(childIdx & (1 << 0)));
- 
-     // generate voxel center point for voxel at key
--    genVoxelCenterFromOctreeKey (newKey, treeDepth, voxelCenter);
-+    this->genVoxelCenterFromOctreeKey (newKey, treeDepth, voxelCenter);
- 
-     voxelPointDist = pointSquaredDist (voxelCenter, point);
- 
-@@ -420,7 +420,7 @@
-   // make sure we found at least one branch child
-   assert (minChildIdx<8);
- 
--  childNode = getBranchChild (*node, minChildIdx);
-+  childNode = this->getBranchChild (*node, minChildIdx);
- 
-   if (treeDepth < this->octreeDepth_)
-   {
-@@ -540,7 +540,7 @@
-   {
-     PointT newPoint;
- 
--    genLeafNodeCenterFromOctreeKey (key, newPoint);
-+    this->genLeafNodeCenterFromOctreeKey (key, newPoint);
- 
-     voxelCenterList.push_back (newPoint);
- 
-@@ -571,7 +571,7 @@
-       childIdx = a;
- 
-     // childNode == 0 if childNode doesn't exist
--    childNode = getBranchChild ((OctreeBranch&)*node, childIdx);
-+    childNode = this->getBranchChild ((OctreeBranch&)*node, childIdx);
- 
-     // Generate new key for current branch voxel
-     childKey.x = (key.x << 1) | (!!(childIdx & (1 << 2)));
-@@ -695,7 +695,7 @@
-       childIdx = a;
- 
-     // childNode == 0 if childNode doesn't exist
--    childNode = getBranchChild ((OctreeBranch&)*node, childIdx);
-+    childNode = this->getBranchChild ((OctreeBranch&)*node, childIdx);
-     // Generate new key for current branch voxel
-     childKey.x = (key.x << 1) | (!!(childIdx & (1 << 2)));
-     childKey.y = (key.y << 1) | (!!(childIdx & (1 << 1)));
-Index: surface/include/pcl/surface/impl/mls_omp.hpp
-===================================================================
---- surface/include/pcl/surface/impl/mls_omp.hpp	(revision 3921)
-+++ surface/include/pcl/surface/impl/mls_omp.hpp	(working copy)
-@@ -59,7 +59,7 @@
-     std::vector<float> nn_sqr_dists;
- 
-     // Get the initial estimates of point positions and their neighborhoods
--    if (!searchForNeighbors ((*indices_)[cp], nn_indices, nn_sqr_dists))
-+    if (!this->searchForNeighbors ((*indices_)[cp], nn_indices, nn_sqr_dists))
-     {
-       if (normals_)
-         normals_->points[cp].normal[0] = normals_->points[cp].normal[1] = normals_->points[cp].normal[2] = normals_->points[cp].curvature = std::numeric_limits<float>::quiet_NaN ();
-@@ -73,7 +73,7 @@
- 
-     Eigen::Vector4f model_coefficients;
-     // Get a plane approximating the local surface's tangent and project point onto it
--    computeMLSPointNormal (output.points[cp], *input_, nn_indices, nn_sqr_dists,
-+    this->computeMLSPointNormal (output.points[cp], *input_, nn_indices, nn_sqr_dists,
-                            model_coefficients); 
- 
-     // Save results to output cloud
-Index: surface/include/pcl/surface/impl/marching_cubes_greedy.hpp
-===================================================================
---- surface/include/pcl/surface/impl/marching_cubes_greedy.hpp	(revision 3921)
-+++ surface/include/pcl/surface/impl/marching_cubes_greedy.hpp	(working copy)
-@@ -72,11 +72,11 @@
- 
-     // the vertices are shared by 8 voxels, so we need to update all 8 of them
-     HashMap neighbor_list;
--    getNeighborList1D (cell_data, index_3d, neighbor_list);
-+    this->getNeighborList1D (cell_data, index_3d, neighbor_list);
-     BOOST_FOREACH (typename HashMap::value_type entry, neighbor_list)
-     {
-       Eigen::Vector3i i3d;
--      getIndexIn3D(entry.first, i3d);
-+      this->getIndexIn3D(entry.first, i3d);
-       // if the neighbor doesn't exist, add it, otherwise we need to do an OR operation on the vertices
-       if (cell_hash_map_.find (entry.first) == cell_hash_map_.end ())
-       {
-Index: surface/include/pcl/surface/impl/marching_cubes_greedy_dot.hpp
-===================================================================
---- surface/include/pcl/surface/impl/marching_cubes_greedy_dot.hpp	(revision 3921)
-+++ surface/include/pcl/surface/impl/marching_cubes_greedy_dot.hpp	(working copy)
-@@ -72,11 +72,11 @@
- 
-     // the vertices are shared by 8 voxels, so we need to update all 8 of them
-     HashMap neighbor_list;
--    getNeighborList1D (cell_data, index_3d, neighbor_list);
-+    this->getNeighborList1D (cell_data, index_3d, neighbor_list);
-     BOOST_FOREACH (typename HashMap::value_type entry, neighbor_list)
-     {
-       Eigen::Vector3i i3d;
--      getIndexIn3D (entry.first, i3d);
-+      this->getIndexIn3D (entry.first, i3d);
-       // getCellCenterFromIndex (const Eigen::Vector3i &index, Eigen::Vector4f &center) const
-       Eigen::Vector4f posVector;
-       MarchingCubes<PointNT>::getCellCenterFromIndex (i3d, posVector);
-Index: registration/include/pcl/registration/impl/icp.hpp
-===================================================================
---- registration/include/pcl/registration/impl/icp.hpp	(revision 3921)
-+++ registration/include/pcl/registration/impl/icp.hpp	(working copy)
-@@ -82,7 +82,7 @@
-     // Iterating over the entire index vector and  find all correspondences
-     for (size_t idx = 0; idx < indices_->size (); ++idx)
-     {
--      if (!searchForNeighbors (output, (*indices_)[idx], nn_indices, nn_dists))
-+      if (!this->searchForNeighbors (output, (*indices_)[idx], nn_indices, nn_dists))
-       {
-         PCL_ERROR ("[pcl::%s::computeTransformation] Unable to find a nearest neighbor in the target dataset for point %d in the source!\n", getClassName ().c_str (), (*indices_)[idx]);
-         return;
-@@ -185,7 +185,7 @@
- 
-     if (nr_iterations_ >= max_iterations_ ||
-         fabs ((transformation_ - previous_transformation_).sum ()) < transformation_epsilon_ ||
--        fabs (getFitnessScore (correspondence_distances_, previous_correspondence_distances)) <= euclidean_fitness_epsilon_
-+        fabs (this->getFitnessScore (correspondence_distances_, previous_correspondence_distances)) <= euclidean_fitness_epsilon_
-        )
-     {
-       converged_ = true;
-@@ -196,7 +196,7 @@
-       PCL_DEBUG ("fabs ((transformation_ - previous_transformation_).sum ()) (%f) < transformation_epsilon_ (%f)\n",
-                  fabs ((transformation_ - previous_transformation_).sum ()), transformation_epsilon_);
-       PCL_DEBUG ("fabs (getFitnessScore (correspondence_distances_, previous_correspondence_distances)) (%f) <= euclidean_fitness_epsilon_ (%f)\n",
--                 fabs (getFitnessScore (correspondence_distances_, previous_correspondence_distances)),
-+                 fabs (this->getFitnessScore (correspondence_distances_, previous_correspondence_distances)),
-                  euclidean_fitness_epsilon_);
- 
-     }
-Index: features/include/pcl/features/spin_image.h
-===================================================================
---- features/include/pcl/features/spin_image.h	(revision 3921)
-+++ features/include/pcl/features/spin_image.h	(working copy)
-@@ -159,7 +159,7 @@
-       setInputWithNormals (const PointCloudInConstPtr& input, 
-                            const PointCloudNConstPtr& normals)
-       {
--        setInputCloud (input);
-+        this->setInputCloud (input);
-         input_normals_ = normals;
-       }
- 
-@@ -176,8 +176,8 @@
-       setSearchSurfaceWithNormals (const PointCloudInConstPtr& surface, 
-                                    const PointCloudNConstPtr& normals)
-       {
--        setSearchSurface (surface);
--        setInputNormals (normals);
-+        this->setSearchSurface (surface);
-+        this->setInputNormals (normals);
-       }
- 
-       /** \brief Sets single vector a rotation axis for all input points.
-Index: features/include/pcl/features/impl/fpfh_omp.hpp
-===================================================================
---- features/include/pcl/features/impl/fpfh_omp.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/fpfh_omp.hpp	(working copy)
-@@ -96,7 +96,7 @@
-     this->searchForNeighbors (*surface_, p_idx, search_parameter_, nn_indices, nn_dists);
- 
-     // Estimate the SPFH signature around p_idx
--    computePointSPFHSignature (*surface_, *normals_, p_idx, i, nn_indices, hist_f1_, hist_f2_, hist_f3_);
-+    this->computePointSPFHSignature (*surface_, *normals_, p_idx, i, nn_indices, hist_f1_, hist_f2_, hist_f3_);
- 
-     // Populate a lookup table for converting a point index to its corresponding row in the spfh_hist_* matrices
-     spfh_hist_lookup[p_idx] = i;
-Index: features/include/pcl/features/impl/intensity_gradient.hpp
-===================================================================
---- features/include/pcl/features/impl/intensity_gradient.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/intensity_gradient.hpp	(working copy)
-@@ -229,7 +229,7 @@
- 
-     Eigen::Vector3f normal = Eigen::Vector3f::Map (normals_->points[idx].normal);
-     Eigen::Vector3f gradient;
--    computePointIntensityGradient (*surface_, nn_indices, centroid.head<3> (), mean_intensity, normal, gradient);
-+    this->computePointIntensityGradient (*surface_, nn_indices, centroid.head<3> (), mean_intensity, normal, gradient);
- 
-     output.points (idx, 0) = gradient[0];
-     output.points (idx, 1) = gradient[1];
-Index: features/include/pcl/features/impl/intensity_spin.hpp
-===================================================================
---- features/include/pcl/features/impl/intensity_spin.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/intensity_spin.hpp	(working copy)
-@@ -221,7 +221,7 @@
-     }
- 
-     // Compute the intensity spin image
--    computeIntensitySpinImage (*surface_, search_radius_, sigma_, k, nn_indices, nn_dist_sqr, intensity_spin_image);
-+    this->computeIntensitySpinImage (*surface_, search_radius_, sigma_, k, nn_indices, nn_dist_sqr, intensity_spin_image);
- 
-     // Copy into the resultant cloud
-     int bin = 0;
-Index: features/include/pcl/features/impl/shot_omp.hpp
-===================================================================
---- features/include/pcl/features/impl/shot_omp.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/shot_omp.hpp	(working copy)
-@@ -83,7 +83,7 @@
- #else
-     int tid = 0;
- #endif
--	computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot[tid], rfs[tid]);
-+	this->computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot[tid], rfs[tid]);
- 
- 	// Copy into the resultant cloud
-     for (int d = 0; d < shot[tid].size (); ++d)
-@@ -139,7 +139,7 @@
- #else
-     int tid = 0;
- #endif
--    computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot[tid], rfs[tid]);
-+    this->computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot[tid], rfs[tid]);
- 
-     // Copy into the resultant cloud
-     for (int d = 0; d < shot[tid].size (); ++d)
-Index: features/include/pcl/features/impl/3dsc.hpp
-===================================================================
---- features/include/pcl/features/impl/3dsc.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/3dsc.hpp	(working copy)
-@@ -340,7 +340,7 @@
-     }
- 
-     std::vector<float> descriptor (descriptor_length_);
--    if (!computePoint (point_index, *normals_, rf, descriptor))
-+    if (!this->computePoint (point_index, *normals_, rf, descriptor))
-       output.is_dense = false;
-     for (int j = 0; j < 9; ++j)
-       output.points (point_index, j) = rf[j];
-Index: features/include/pcl/features/impl/rift.hpp
-===================================================================
---- features/include/pcl/features/impl/rift.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/rift.hpp	(working copy)
-@@ -246,7 +246,7 @@
-     }
- 
-     // Compute the RIFT descriptor
--    computeRIFT (*surface_, *gradient_, (*indices_)[idx], search_radius_, nn_indices, nn_dist_sqr, rift_descriptor);
-+    this->computeRIFT (*surface_, *gradient_, (*indices_)[idx], search_radius_, nn_indices, nn_dist_sqr, rift_descriptor);
- 
-     // Copy into the resultant cloud
-     int bin = 0;
-Index: features/include/pcl/features/impl/principal_curvatures.hpp
-===================================================================
---- features/include/pcl/features/impl/principal_curvatures.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/principal_curvatures.hpp	(working copy)
-@@ -188,7 +188,7 @@
-       }
- 
-       // Estimate the principal curvatures at each patch
--      computePointPrincipalCurvatures (*normals_, (*indices_)[idx], nn_indices,
-+      this->computePointPrincipalCurvatures (*normals_, (*indices_)[idx], nn_indices,
-                                        output.points (idx, 0), output.points (idx, 1), output.points (idx, 2),
-                                        output.points (idx, 3), output.points (idx, 4));
-     }
-@@ -207,7 +207,7 @@
-       }
- 
-       // Estimate the principal curvatures at each patch
--      computePointPrincipalCurvatures (*normals_, (*indices_)[idx], nn_indices,
-+      this->computePointPrincipalCurvatures (*normals_, (*indices_)[idx], nn_indices,
-                                        output.points (idx, 0), output.points (idx, 1), output.points (idx, 2),
-                                        output.points (idx, 3), output.points (idx, 4));
-     }
-Index: features/include/pcl/features/impl/boundary.hpp
-===================================================================
---- features/include/pcl/features/impl/boundary.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/boundary.hpp	(working copy)
-@@ -196,10 +196,10 @@
-       // Obtain a coordinate system on the least-squares plane
-       //v = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
-       //u = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
--      getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
-+      this->getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
- 
-       // Estimate whether the point is lying on a boundary surface or not
--      output.points (idx, 0) = isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
-+      output.points (idx, 0) = this->isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
-     }
-   }
-   else
-@@ -218,10 +218,10 @@
-       // Obtain a coordinate system on the least-squares plane
-       //v = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
-       //u = normals_->points[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
--      getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
-+      this->getCoordinateSystemOnPlane (normals_->points[(*indices_)[idx]], u, v);
- 
-       // Estimate whether the point is lying on a boundary surface or not
--      output.points (idx, 0) = isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
-+      output.points (idx, 0) = this->isBoundaryPoint (*surface_, input_->points[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
-     }
-   }
- }
-Index: features/include/pcl/features/impl/fpfh.hpp
-===================================================================
---- features/include/pcl/features/impl/fpfh.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/fpfh.hpp	(working copy)
-@@ -307,7 +307,7 @@
-   std::vector<float> nn_dists (k_);
- 
-   std::vector<int> spfh_hist_lookup;
--  computeSPFHSignatures (spfh_hist_lookup, hist_f1_, hist_f2_, hist_f3_);
-+  this->computeSPFHSignatures (spfh_hist_lookup, hist_f1_, hist_f2_, hist_f3_);
- 
-   // Intialize the array that will store the FPFH signature
-   output.points.resize (indices_->size (), nr_bins_f1_ + nr_bins_f2_ + nr_bins_f3_);
-@@ -332,7 +332,7 @@
-         nn_indices[i] = spfh_hist_lookup[nn_indices[i]];
- 
-       // Compute the FPFH signature (i.e. compute a weighted combination of local SPFH signatures) ...
--      weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
-+      this->weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
-       output.points.row (idx) = fpfh_histogram_;
-     }
-   }
-@@ -354,7 +354,7 @@
-         nn_indices[i] = spfh_hist_lookup[nn_indices[i]];
- 
-       // Compute the FPFH signature (i.e. compute a weighted combination of local SPFH signatures) ...
--      weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
-+      this->weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
-       output.points.row (idx) = fpfh_histogram_;
-     }
-   }
-Index: features/include/pcl/features/impl/moment_invariants.hpp
-===================================================================
---- features/include/pcl/features/impl/moment_invariants.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/moment_invariants.hpp	(working copy)
-@@ -181,7 +181,7 @@
-         continue;
-       }
- 
--      computePointMomentInvariants (*surface_, nn_indices,
-+      this->computePointMomentInvariants (*surface_, nn_indices,
-                                     output.points (idx, 0), output.points (idx, 1), output.points (idx, 2));
-     }
-   }
-@@ -198,7 +198,7 @@
-         continue;
-        }
- 
--      computePointMomentInvariants (*surface_, nn_indices,
-+      this->computePointMomentInvariants (*surface_, nn_indices,
-                                     output.points (idx, 0), output.points (idx, 1), output.points (idx, 2));
-     }
-   }
-Index: features/include/pcl/features/impl/spin_image.hpp
-===================================================================
---- features/include/pcl/features/impl/spin_image.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/spin_image.hpp	(working copy)
-@@ -106,7 +106,7 @@
- 
-   std::vector<int> nn_indices;
-   std::vector<float> nn_sqr_dists;
--  const int neighb_cnt = searchForNeighbors (index, search_radius_, nn_indices, nn_sqr_dists);
-+  const int neighb_cnt = this->searchForNeighbors (index, search_radius_, nn_indices, nn_sqr_dists);
-   if (neighb_cnt < (int)min_pts_neighb_)
-   {
-     throw PCLException (
-@@ -324,7 +324,7 @@
-   output.points.resize (indices_->size (), 153);
-   for (int i_input = 0; i_input < (int)indices_->size (); ++i_input)
-   {
--    Eigen::ArrayXXd res = computeSiForPoint (indices_->at (i_input));
-+    Eigen::ArrayXXd res = this->computeSiForPoint (indices_->at (i_input));
- 
-     // Copy into the resultant cloud
-     for (int iRow = 0; iRow < res.rows () ; iRow++)
-Index: features/include/pcl/features/impl/shot.hpp
-===================================================================
---- features/include/pcl/features/impl/shot.hpp	(revision 3921)
-+++ features/include/pcl/features/impl/shot.hpp	(working copy)
-@@ -672,7 +672,7 @@
-     interpolateSingleChannel (indices, sqr_dists, input_->points[index].getVector4fMap (), rf, binDistanceShape, nr_shape_bins_, shot);
- 
-   // Normalize the final histogram
--  normalizeHistogram (shot, descLength_);
-+  this->normalizeHistogram (shot, descLength_);
- }
- 
- 
-@@ -691,14 +691,14 @@
- 
-    // Clear the resultant shot
-   std::vector<double> binDistanceShape;
--  createBinDistanceShape (index, indices, sqr_dists, *input_, *normals_, *surface_, search_radius_, binDistanceShape, rf);
-+  this->createBinDistanceShape (index, indices, sqr_dists, *input_, *normals_, *surface_, search_radius_, binDistanceShape, rf);
- 
-   // Interpolate
-   shot.setZero ();
-   interpolateSingleChannel (indices, sqr_dists, input_->points[index].getVector4fMap (), rf, binDistanceShape, nr_shape_bins_, shot);
- 
-   // Normalize the final histogram
--  normalizeHistogram (shot, descLength_);
-+  this->normalizeHistogram (shot, descLength_);
- }
- 
- 
-@@ -717,14 +717,14 @@
- 
-    // Clear the resultant shot
-   std::vector<double> binDistanceShape;
--  createBinDistanceShape (index, indices, sqr_dists, *input_, *normals_, *surface_, search_radius_, binDistanceShape, rf);
-+  this->createBinDistanceShape (index, indices, sqr_dists, *input_, *normals_, *surface_, search_radius_, binDistanceShape, rf);
- 
-   // Interpolate
-   shot.setZero ();
-   interpolateSingleChannel (indices, sqr_dists, input_->points[index].getVector4fMap (), rf, binDistanceShape, nr_shape_bins_, shot);
- 
-   // Normalize the final histogram
--  normalizeHistogram (shot, descLength_);
-+  this->normalizeHistogram (shot, descLength_);
- }
- 
- 
-@@ -839,7 +839,7 @@
-      }
- 
-     // Compute the SHOT descriptor for the current 3D feature
--    computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot_, rf_);
-+    this->computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot_, rf_);
- 
-     // Copy into the resultant cloud
-     for (int d = 0; d < shot_.size (); ++d)
-@@ -955,7 +955,7 @@
-      }
- 
-     // Estimate the SHOT at each patch
--    computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot_, rf_);
-+    this->computePointSHOT ((*indices_)[idx], nn_indices, nn_dists, shot_, rf_);
- 
-     // Copy into the resultant cloud
-     for (int d = 0; d < shot_.size (); ++d)

diff --git a/pcl-1.5.1-gcc47.patch b/pcl-1.5.1-gcc47.patch
new file mode 100644
index 0000000..3d202a5
--- /dev/null
+++ b/pcl-1.5.1-gcc47.patch
@@ -0,0 +1,82 @@
+diff -up ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp.gcc47 ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp
+--- ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp.gcc47	2012-02-27 19:52:53.813318632 -0500
++++ ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp	2012-02-27 19:53:22.815364954 -0500
+@@ -54,7 +54,7 @@ pcl::tracking::KLDAdaptiveParticleFilter
+   // initializing for sampling without replacement
+   std::vector<int> a (particles_->points.size ());
+   std::vector<double> q (particles_->points.size ());
+-  genAliasTable (a, q, particles_);
++  this->genAliasTable (a, q, particles_);
+   
+   const std::vector<double> zero_mean (StateT::stateDimension (), 0.0);
+   
+diff -up ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp.gcc47 ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp
+--- ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp.gcc47	2012-02-27 20:05:28.374624954 -0500
++++ ./tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter_omp.hpp	2012-02-27 20:06:40.305196260 -0500
+@@ -8,14 +8,14 @@ pcl::tracking::KLDAdaptiveParticleFilter
+   {
+ #pragma omp parallel for schedule (dynamic, threads_)
+     for (int i = 0; i < particle_num_; i++)
+-      computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
++      this->computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
+     
+     PointCloudInPtr coherence_input (new PointCloudIn);
+-    cropInputPointCloud (input_, *coherence_input);
++    this->cropInputPointCloud (input_, *coherence_input);
+     if (change_counter_ == 0)
+     {
+       // test change detector
+-      if (!use_change_detector_ || testChangeDetection (coherence_input))
++      if (!use_change_detector_ || this->testChangeDetection (coherence_input))
+       {
+         changed_ = true;
+         change_counter_ = change_detector_interval_;
+@@ -54,11 +54,11 @@ pcl::tracking::KLDAdaptiveParticleFilter
+ #pragma omp parallel for schedule (dynamic, threads_)
+     for (int i = 0; i < particle_num_; i++)
+     {
+-      computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
++      this->computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
+     }
+     
+     PointCloudInPtr coherence_input (new PointCloudIn);
+-    cropInputPointCloud (input_, *coherence_input);
++    this->cropInputPointCloud (input_, *coherence_input);
+     
+     coherence_->setTargetCloud (coherence_input);
+     coherence_->initCompute ();
+diff -up ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp.gcc47 ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp
+--- ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp.gcc47	2012-02-27 19:36:30.818287347 -0500
++++ ./tracking/include/pcl/tracking/impl/particle_filter_omp.hpp	2012-02-27 19:52:33.441585017 -0500
+@@ -8,14 +8,14 @@ pcl::tracking::ParticleFilterOMPTracker<
+   {
+ #pragma omp parallel for schedule (dynamic, threads_)
+     for (int i = 0; i < particle_num_; i++)
+-      computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
++      this->computeTransformedPointCloudWithoutNormal (particles_->points[i], *transed_reference_vector_[i]);
+     
+     PointCloudInPtr coherence_input (new PointCloudIn);
+-    cropInputPointCloud (input_, *coherence_input);
++    this->cropInputPointCloud (input_, *coherence_input);
+     if (change_counter_ == 0)
+     {
+       // test change detector
+-      if (!use_change_detector_ || testChangeDetection (coherence_input))
++      if (!use_change_detector_ || this->testChangeDetection (coherence_input))
+       {
+         changed_ = true;
+         change_counter_ = change_detector_interval_;
+@@ -54,11 +54,11 @@ pcl::tracking::ParticleFilterOMPTracker<
+ #pragma omp parallel for schedule (dynamic, threads_)
+     for (int i = 0; i < particle_num_; i++)
+     {
+-      computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
++      this->computeTransformedPointCloudWithNormal (particles_->points[i], *indices_list[i], *transed_reference_vector_[i]);
+     }
+     
+     PointCloudInPtr coherence_input (new PointCloudIn);
+-    cropInputPointCloud (input_, *coherence_input);
++    this->cropInputPointCloud (input_, *coherence_input);
+     
+     coherence_->setTargetCloud (coherence_input);
+     coherence_->initCompute ();

diff --git a/pcl.spec b/pcl.spec
index 4735062..92da1eb 100644
--- a/pcl.spec
+++ b/pcl.spec
@@ -1,14 +1,14 @@
 Name:           pcl
-Version:        1.4.0
-Release:        2%{?dist}
+Version:        1.5.1
+Release:        1%{?dist}
 Summary:        Library for point cloud processing
 
 Group:          System Environment/Libraries
 License:        BSD
 URL:            http://pointclouds.org/
-Source0:        http://dev.pointclouds.org/attachments/download/610/PCL-1.4.0-Source.tar.bz2
+Source0:        http://dev.pointclouds.org/attachments/download/771/PCL-1.5.1-Source.tar.bz2
 Patch0:         PCL-1.4.0-Source-fedora.patch
-Patch1:         pcl-1.4.0-gcc47.patch
+Patch1:         pcl-1.5.1-gcc47.patch
 BuildRoot:      %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
 # For plain building
@@ -133,6 +133,10 @@ done
 
 mkdir -p $RPM_BUILD_ROOT%{_libdir}/cmake/pcl
 mv $RPM_BUILD_ROOT%{_datadir}/%{name}-*/*.cmake $RPM_BUILD_ROOT%{_libdir}/cmake/pcl
+
+# Remove installed documentation, will add with doc tags later
+rm -rf $RPM_BUILD_ROOT%{_datadir}/doc/%{name}-1.5
+
 #mv $RPM_BUILD_ROOT%{_libdir}/pcl/*.cmake $RPM_BUILD_ROOT%{_libdir}/cmake/pcl
 #rmdir $RPM_BUILD_ROOT%{_libdir}/pcl
 
@@ -158,7 +162,7 @@ rm -rf $RPM_BUILD_ROOT
 %defattr(-,root,root,-)
 %doc AUTHORS.txt LICENSE.txt
 %{_libdir}/*.so.*
-%{_datadir}/%{name}-1.4
+%{_datadir}/%{name}-1.5
 
 %files devel
 %defattr(-,root,root,-)
@@ -180,6 +184,10 @@ rm -rf $RPM_BUILD_ROOT
 
 
 %changelog
+* Mon Apr 04 2012 Rich Mattes <richmattes@gmail.com> - 1.5.1-1
+- Update to release 1.5.1
+- Add new patch for gcc-4.7 fixes
+
 * Tue Feb 28 2012 Fedora Release Engineering <rel-eng@lists.fedoraproject.org> - 1.4.0-2
 - Rebuilt for c++ ABI breakage
 

diff --git a/sources b/sources
index b61e0e3..b6623e5 100644
--- a/sources
+++ b/sources
@@ -1 +1 @@
-63fd633a6306ae9b334131b250a2f893  PCL-1.4.0-Source.tar.bz2
+d96479ab65245c64d91a6fe1d803275a  PCL-1.5.1-Source.tar.bz2