Use std::partition and std::sort instead of just sort

Author: larshg

surface/include/pcl/surface/gp3.h

@@ -473,19 +473,6 @@ namespace pcl
         part_[v] = part_[s];
         fringe_queue_.push_back(v);
       }
-
-      /** \brief Function for ascending sort of nnAngle, taking visibility into account
-        * (angles to visible neighbors will be first, to the invisible ones after).
-        * \param[in] a1 the first angle
-        * \param[in] a2 the second angle
-        */
-      static inline bool 
-      nnAngleSortAsc (const nnAngle& a1, const nnAngle& a2)
-      {
-        if (a1.visible == a2.visible)
-          return (a1.angle < a2.angle);
-        return a1.visible;
-      }
   };
 
 } // namespace pcl

surface/include/pcl/surface/impl/gp3.hpp

@@ -40,6 +40,8 @@
 
 #include <pcl/surface/gp3.h>
 
+#include <algorithm>
+
 /////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT> void
 pcl::GreedyProjectionTriangulation<PointInT>::performReconstruction (pcl::PolygonMesh &output)
@@ -479,7 +481,8 @@ pcl::GreedyProjectionTriangulation<PointInT>::reconstructPolygons (std::vector<p
         }
 
       // Sorting angles
-      std::sort (angles_.begin (), angles_.end (), GreedyProjectionTriangulation<PointInT>::nnAngleSortAsc);
+      const auto visible_end = std::partition(angles_.begin(), angles_.end(), [](const nnAngle& a){ return a.visible; });
+      std::sort(angles_.begin(), visible_end, [](const nnAngle& a, const nnAngle& b){ return a.angle < b.angle; });
 
       // Triangulating
       if (angles_[2].visible == false)