PointCloudLibrary · gnawme · Nov 17, 2025 · Nov 18, 2025 · Nov 19, 2025 · Nov 20, 2025
diff --git a/.clang-tidy b/.clang-tidy
@@ -1,7 +1,11 @@
 ---
 Checks: >
     -*,
+    bugprone-assert-side-effect,
     bugprone-copy-constructor-init,
+    bugprone-dangling-handle,
+    bugprone-forward-declaration-namespace,
+    bugprone-inaccurate-erase,
     bugprone-macro-parentheses,
     bugprone-unhandled-self-assignment,
     bugprone-unused-raii,

diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
@@ -17,6 +17,7 @@ jobs:
           cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_COMPILER=/usr/bin/clang-18 -DCMAKE_C_COMPILER=/usr/bin/clang-18 . \
             -DBUILD_benchmarks=ON \
             -DBUILD_examples=ON \
+            -DBUILD_surface_on_nurbs=ON \
             -DBUILD_simulation=ON \
             -DBUILD_global_tests=ON
 

diff --git a/apps/3d_rec_framework/CMakeLists.txt b/apps/3d_rec_framework/CMakeLists.txt
@@ -16,6 +16,8 @@ if(NOT build)
   return()
 endif()
 
+include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
+
 set(incs_fw
   "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/normal_estimator.h"
 )
@@ -89,7 +91,7 @@ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/
 
 set(LIB_NAME "pcl_${SUBSUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSUBSYS_NAME} SOURCES ${srcs} ${impl_incs_pipeline} ${incs_utils} ${incs_fw} ${incs_fw_global} ${incs_fw_local} ${incc_tools_framework} ${incs_pipelines} ${incs_pc_source})
-target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_keypoints pcl_recognition pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration)
+target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search pcl_registration)
 
 if(WITH_OPENNI)
   target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})

diff --git a/...d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h b/...d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h
@@ -12,7 +12,6 @@
 #include <pcl/keypoints/harris_3d.h>
 #include <pcl/keypoints/sift_keypoint.h>
 #include <pcl/keypoints/susan.h>
-#include <pcl/search/auto.h>
 #include <pcl/surface/mls.h>
 
 #include <memory>
@@ -87,8 +86,11 @@ class UniformSamplingExtractor : public KeypointExtractor<PointInT> {
     pcl::PointCloud<int> filtered_keypoints;
     // create a search object
     typename pcl::search::Search<PointInT>::Ptr tree;
-    tree.reset(pcl::search::autoSelectMethod<PointInT>(
-        input, false, pcl::search::Purpose::radius_search));
+    if (input->isOrganized())
+      tree.reset(new pcl::search::OrganizedNeighbor<PointInT>());
+    else
+      tree.reset(new pcl::search::KdTree<PointInT>(false));
+    tree->setInputCloud(input);
 
     neighborhood_indices_.reset(new std::vector<pcl::Indices>);
     neighborhood_indices_->resize(keypoints_cloud->size());

diff --git a/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h b/apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h
@@ -12,9 +12,8 @@
 #include <pcl/features/normal_3d.h>
 #include <pcl/filters/radius_outlier_removal.h>
 #include <pcl/filters/voxel_grid.h>
-#include <pcl/search/kdtree.h> // for KdTree
-#include <pcl/memory.h>        // for pcl::make_shared
-#include <pcl/types.h>         // for pcl::index_t
+#include <pcl/memory.h> // for pcl::make_shared
+#include <pcl/types.h>  // for pcl::index_t
 
 namespace pcl {
 namespace rec_3d_framework {

diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
@@ -15,40 +15,16 @@ set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_AUTOUIC ON)
 
-list(APPEND CMAKE_AUTOUIC_SEARCH_PATHS "src")
-
-if(VTK_FOUND)
-  set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h")
-  set(srcs "src/render_views_tesselated_sphere.cpp")
-endif()
-
-if(QHULL_FOUND)
-  set(incs
-    "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h"
-    "include/pcl/${SUBSYS_NAME}/timer.h"
-    ${incs}
-  )
-  set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp")
-  set(srcs "src/dominant_plane_segmentation.cpp" ${srcs})
-endif()
-
-set(LIB_NAME "pcl_${SUBSYS_NAME}")
-PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${impl_incs} ${incs})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
-PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC})
-# Install include files
-PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
-PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
-
 # to be filled with all targets the apps subsystem
 set(PCL_APPS_ALL_TARGETS)
 
+include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
+
 PCL_ADD_EXECUTABLE(pcl_test_search_speed COMPONENT ${SUBSYS_NAME} SOURCES src/test_search.cpp)
 target_link_libraries(pcl_test_search_speed pcl_common pcl_io pcl_search pcl_kdtree pcl_visualization)
 
 PCL_ADD_EXECUTABLE(pcl_nn_classification_example COMPONENT ${SUBSYS_NAME} SOURCES src/nn_classification_example.cpp)
 target_link_libraries(pcl_nn_classification_example pcl_common pcl_io pcl_features pcl_kdtree)
-target_include_directories(pcl_nn_classification_example PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
 PCL_ADD_EXECUTABLE(pcl_pyramid_surface_matching COMPONENT ${SUBSYS_NAME} SOURCES src/pyramid_surface_matching.cpp)
 target_link_libraries(pcl_pyramid_surface_matching pcl_common pcl_io pcl_features pcl_registration pcl_filters)
@@ -62,6 +38,9 @@ if(LIBUSB_FOUND)
 endif()
 
 if(VTK_FOUND)
+  set(incs "include/pcl/${SUBSYS_NAME}/render_views_tesselated_sphere.h")
+  set(srcs "src/render_views_tesselated_sphere.cpp")
+
   PCL_ADD_EXECUTABLE(pcl_ppf_object_recognition COMPONENT ${SUBSYS_NAME} SOURCES src/ppf_object_recognition.cpp)
   target_link_libraries(pcl_ppf_object_recognition pcl_common pcl_io pcl_filters pcl_features pcl_registration pcl_visualization pcl_sample_consensus pcl_segmentation)
 
@@ -91,9 +70,8 @@ if(VTK_FOUND)
   PCL_ADD_EXECUTABLE(pcl_face_trainer COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection/face_trainer.cpp)
   target_link_libraries(pcl_face_trainer pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree)
 
-  PCL_ADD_EXECUTABLE(pcl_fs_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection/filesystem_face_detection.cpp BUNDLE)
+  PCL_ADD_EXECUTABLE(pcl_fs_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection//filesystem_face_detection.cpp BUNDLE)
   target_link_libraries(pcl_fs_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree)
-  target_include_directories(pcl_fs_face_detector PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
   PCL_ADD_EXECUTABLE(pcl_stereo_ground_segmentation COMPONENT ${SUBSYS_NAME} SOURCES src/stereo_ground_segmentation.cpp)
   target_link_libraries(pcl_stereo_ground_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_stereo)
@@ -113,7 +91,6 @@ if(VTK_FOUND)
       BUNDLE)
 
     target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface pcl_registration ${QTX}::Widgets)
-    target_include_directories(pcl_manual_registration PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_pcd_video_player
       COMPONENT
@@ -124,8 +101,7 @@ if(VTK_FOUND)
       src/pcd_video_player/pcd_video_player.ui
       BUNDLE)
 
-    target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_registration pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
-    target_include_directories(pcl_pcd_video_player PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+    target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
   endif()
 
   if(WITH_OPENNI)
@@ -178,21 +154,20 @@ if(VTK_FOUND)
 
     PCL_ADD_EXECUTABLE(pcl_openni_face_detector COMPONENT ${SUBSYS_NAME} SOURCES src/face_detection//openni_face_detection.cpp src/face_detection//openni_frame_source.cpp BUNDLE)
     target_link_libraries(pcl_openni_face_detector pcl_features pcl_recognition pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface pcl_keypoints pcl_ml pcl_search pcl_kdtree)
-    target_include_directories(pcl_openni_face_detector PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     if(QT_FOUND AND HAVE_QVTK)
       # OpenNI Passthrough application demo
       PCL_ADD_EXECUTABLE(pcl_openni_passthrough
         COMPONENT
           ${SUBSYS_NAME}
         SOURCES
-          include/pcl/apps/openni_passthrough_qt.h
           include/pcl/apps/openni_passthrough.h
           src/openni_passthrough.cpp
           src/openni_passthrough.ui)
 
       target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization ${QTX}::Widgets)
-      target_include_directories(pcl_openni_passthrough PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+
+      list(APPEND CMAKE_AUTOUIC_SEARCH_PATHS "src")
 
       # OpenNI Organized Connected Component application demo
       PCL_ADD_EXECUTABLE(pcl_organized_segmentation_demo
@@ -205,51 +180,48 @@ if(VTK_FOUND)
           src/organized_segmentation_demo.ui
         BUNDLE)
       target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QTX}::Widgets)
-      target_include_directories(pcl_organized_segmentation_demo PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     endif()
 
     if(QHULL_FOUND)
-      PCL_ADD_EXECUTABLE(pcl_openni_3d_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_convex_hull.cpp BUNDLE)
-      target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
-
-      PCL_ADD_EXECUTABLE(pcl_openni_3d_concave_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_concave_hull.cpp BUNDLE)
-      target_link_libraries(pcl_openni_3d_concave_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
-
-      PCL_ADD_EXECUTABLE(pcl_openni_tracking COMPONENT ${SUBSYS_NAME} SOURCES src/openni_tracking.cpp BUNDLE)
-      target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search)
-
-      PCL_ADD_EXECUTABLE(pcl_openni_planar_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_planar_convex_hull.cpp BUNDLE)
-      target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface)
-
-      PCL_ADD_EXECUTABLE(pcl_ni_linemod COMPONENT ${SUBSYS_NAME} SOURCES src/ni_linemod.cpp BUNDLE)
-      target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search)
-      target_include_directories(pcl_ni_linemod PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
+    PCL_ADD_EXECUTABLE(pcl_openni_3d_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_convex_hull.cpp BUNDLE)
+    target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
+
+    PCL_ADD_EXECUTABLE(pcl_openni_3d_concave_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_concave_hull.cpp BUNDLE)
+    target_link_libraries(pcl_openni_3d_concave_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
+
+    PCL_ADD_EXECUTABLE(pcl_openni_tracking COMPONENT ${SUBSYS_NAME} SOURCES src/openni_tracking.cpp BUNDLE)
+    target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search)
+
+    PCL_ADD_EXECUTABLE(pcl_openni_planar_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_planar_convex_hull.cpp BUNDLE)
+    target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface)
+
+    PCL_ADD_EXECUTABLE(pcl_ni_linemod COMPONENT ${SUBSYS_NAME} SOURCES src/ni_linemod.cpp BUNDLE)
+    target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search)
     endif() # QHULL_FOUND
 
     PCL_ADD_EXECUTABLE(pcl_ni_agast COMPONENT ${SUBSYS_NAME} SOURCES src/ni_agast.cpp BUNDLE)
     target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
-    target_include_directories(pcl_ni_agast PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_brisk COMPONENT ${SUBSYS_NAME} SOURCES src/ni_brisk.cpp BUNDLE)
     target_link_libraries(pcl_ni_brisk pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
-    target_include_directories(pcl_ni_brisk PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_susan COMPONENT ${SUBSYS_NAME} SOURCES src/ni_susan.cpp BUNDLE)
     target_link_libraries(pcl_ni_susan pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
-    target_include_directories(pcl_ni_susan PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_ni_trajkovic COMPONENT ${SUBSYS_NAME} SOURCES src/ni_trajkovic.cpp BUNDLE)
     target_link_libraries(pcl_ni_trajkovic pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
-    target_include_directories(pcl_ni_trajkovic PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
 
     PCL_ADD_EXECUTABLE(pcl_openni_klt COMPONENT ${SUBSYS_NAME} SOURCES src/openni_klt.cpp BUNDLE)
-    target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_keypoints pcl_visualization pcl_tracking)
+    target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_visualization pcl_tracking)
   endif() # WITH_OPENNI
 endif() # VTK_FOUND
 
 # OpenGL and GLUT
 if(OPENGL_FOUND AND GLUT_FOUND)
+  if(NOT WIN32)
+    include_directories(SYSTEM "${OPENGL_INCLUDE_DIR}")
+  endif()
   PCL_ADD_EXECUTABLE(pcl_grabcut_2d COMPONENT ${SUBSYS_NAME} SOURCES src/grabcut_2d.cpp BUNDLE)
   if(APPLE)
     set(_glut_target ${GLUT_glut_LIBRARY})
@@ -264,9 +236,27 @@ set(PCL_APPS_MODULES_NAMES_UNSORTED ${PCL_APPS_MODULES_NAMES})
 topological_sort(PCL_APPS_MODULES_NAMES PCL_APPS_ _DEPENDS)
 sort_relative(PCL_APPS_MODULES_NAMES_UNSORTED PCL_APPS_MODULES_NAMES PCL_APPS_MODULES_DIRS)
 foreach(subdir ${PCL_APPS_MODULES_DIRS})
-  add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
+add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
 endforeach()
 
+if(QHULL_FOUND)
+  set(incs
+    "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h"
+    "include/pcl/${SUBSYS_NAME}/timer.h"
+    ${incs}
+  )
+  set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp")
+  set(srcs "src/dominant_plane_segmentation.cpp" ${srcs})
+endif()
+
+set(LIB_NAME "pcl_${SUBSYS_NAME}")
+PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${impl_incs} ${incs})
+target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
+PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC})
+# Install include files
+PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+
 if(CMAKE_GENERATOR_IS_IDE)
     set(SUBSYS_TARGET_NAME APPS_BUILD)
 else()

diff --git a/apps/cloud_composer/CMakeLists.txt b/apps/cloud_composer/CMakeLists.txt
@@ -5,7 +5,7 @@
 
 set(SUBSUBSYS_NAME cloud_composer)
 set(SUBSUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds")
-set(SUBSUBSYS_DEPS common io visualization features filters apps)
+set(SUBSUBSYS_DEPS common io visualization filters apps)
 set(SUBSUBSYS_EXT_DEPS vtk ${QTX})
 set(REASON "")
 set(DEFAULT OFF)
@@ -28,6 +28,8 @@ if(NOT build)
   return()
 endif()
 
+include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
+
 #Create subdirectory for plugin libs
 set(CLOUD_COMPOSER_PLUGIN_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloud_composer_plugins")
 make_directory("${CLOUD_COMPOSER_PLUGIN_DIR}")
@@ -71,7 +73,7 @@ set(PCL_LIB_TYPE STATIC)
 PCL_ADD_LIBRARY(pcl_cc_tool_interface COMPONENT ${SUBSUBSYS_NAME} SOURCES ${INTERFACE_HEADERS} ${INTERFACE_SOURCES})
 
 
-target_link_libraries(pcl_cc_tool_interface pcl_common pcl_features pcl_filters pcl_search pcl_visualization ${QTX}::Widgets)
+target_link_libraries(pcl_cc_tool_interface pcl_common pcl_filters pcl_search pcl_visualization ${QTX}::Widgets)
 
 set(PCL_LIB_TYPE ${PCL_LIB_TYPE_ORIGIN})
 

diff --git a/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_browser.h b/apps/cloud_composer/include/pcl/apps/cloud_composer/cloud_browser.h
@@ -42,35 +42,40 @@
 
 class QItemSelectionModel;
 
-namespace pcl {
-namespace cloud_composer {
-/** \brief View class for displaying project composition
- * \author Jeremie Papon
- * \ingroup cloud_composer
- */
-class ProjectModel;
-class CloudBrowser : public QTreeView {
-  Q_OBJECT
-public:
-  CloudBrowser(QWidget* parent = nullptr);
-
-  void
-  setModel(QAbstractItemModel* new_model) override;
-
-private:
-  ProjectModel* current_project_model_;
-};
-
-class BackgroundDelegate : public QStyledItemDelegate {
-public:
-  explicit BackgroundDelegate(QObject* parent = nullptr) : QStyledItemDelegate(parent)
-  {}
-
-  void
-  paint(QPainter* painter,
-        const QStyleOptionViewItem& option,
-        const QModelIndex& index) const override;
-};
-
-} // namespace cloud_composer
-} // namespace pcl
+namespace pcl
+{
+  namespace cloud_composer
+  {
+    /** \brief View class for displaying project composition
+     * \author Jeremie Papon
+     * \ingroup cloud_composer
+     */
+    class ProjectModel;
+    class CloudBrowser : public QTreeView
+    {
+      Q_OBJECT
+      public:
+        CloudBrowser (QWidget* parent = nullptr);
+
+        void 
+        setModel (QAbstractItemModel* new_model) override;
+
+      private:  
+        ProjectModel* current_project_model_;
+
+    };
+
+    class BackgroundDelegate : public QStyledItemDelegate
+    {
+      public:
+        explicit 
+        BackgroundDelegate (QObject *parent = nullptr)
+          : QStyledItemDelegate(parent) {}
+
+        void
+        paint (QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+
+    };
+
+  }
+}