Avoid explicit boost::shared_ptr by using reset(), ctors, and auto

PointCloudLibrary · Mar 16, 2019 · 36f7b0e · 36f7b0e
1 parent b3a5798
commit 36f7b0e
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Showing 5 changed files with 6 additions and 10 deletions.
diff --git a/doc/tutorials/content/sources/implicit_shape_model/implicit_shape_model.cpp b/doc/tutorials/content/sources/implicit_shape_model/implicit_shape_model.cpp
@@ -52,8 +52,7 @@ main (int argc, char** argv)
   ism.setTrainingClasses (training_classes);
   ism.setSamplingSize (2.0f);
 
-  pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>::ISMModelPtr model = boost::shared_ptr<pcl::features::ISMModel>
-    (new pcl::features::ISMModel);
+  pcl::ism::ImplicitShapeModelEstimation<153, pcl::PointXYZ, pcl::Normal>::ISMModelPtr model (new pcl::features::ISMModel);
   ism.trainISM (model);
 
   std::string file ("trained_ism_model.txt");

diff --git a/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp b/recognition/include/pcl/recognition/impl/implicit_shape_model.hpp
@@ -228,7 +228,7 @@ pcl::features::ISMVoteList<PointT>::validateTree ()
   if (!tree_is_valid_)
   {
     if (tree_ == 0)
-      tree_ = boost::shared_ptr<pcl::KdTreeFLANN<pcl::InterestPoint> > (new pcl::KdTreeFLANN<pcl::InterestPoint> ());
+      tree_.reset (new pcl::KdTreeFLANN<pcl::InterestPoint>);
     tree_->setInputCloud (votes_);
     k_ind_.resize ( votes_->points.size (), -1 );
     k_sqr_dist_.resize ( votes_->points.size (), 0.0f );
@@ -1238,7 +1238,7 @@ pcl::ism::ImplicitShapeModelEstimation<FeatureSize, PointT, NormalT>::estimateFe
   typename pcl::PointCloud<NormalT>::Ptr normal_cloud,
   typename pcl::PointCloud<pcl::Histogram<FeatureSize> >::Ptr feature_cloud)
 {
-  typename pcl::search::Search<PointT>::Ptr tree = boost::shared_ptr<pcl::search::Search<PointT> > (new pcl::search::KdTree<PointT>);
+  typename pcl::search::Search<PointT>::Ptr tree (new pcl::search::KdTree<PointT>);
 //  tree->setInputCloud (point_cloud);
 
   feature_estimator_->setInputCloud (sampled_point_cloud->makeShared ());

diff --git a/recognition/src/face_detection/rf_face_detector_trainer.cpp b/recognition/src/face_detection/rf_face_detector_trainer.cpp
@@ -58,10 +58,7 @@ void pcl::RFFaceDetectorTrainer::trainWithDataProvider()
 
   dtdp->initialize (directory_);
 
-  boost::shared_ptr < pcl::DecisionTreeTrainerDataProvider<face_detection::FeatureType, std::vector<face_detection::TrainingExample>, float, int, NodeType>
-      > cast_dtdp;
-  cast_dtdp = boost::dynamic_pointer_cast
-      < pcl::DecisionTreeTrainerDataProvider<face_detection::FeatureType, std::vector<face_detection::TrainingExample>, float, int, NodeType> > (dtdp);
+  auto cast_dtdp = boost::dynamic_pointer_cast<pcl::DecisionTreeTrainerDataProvider<face_detection::FeatureType, std::vector<face_detection::TrainingExample>, float, int, NodeType>> (dtdp);
   dft.setDecisionTreeDataProvider (cast_dtdp);
 
   pcl::DecisionForest<NodeType> forest;

diff --git a/tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp b/tracking/include/pcl/tracking/impl/kld_adaptive_particle_filter.hpp
@@ -25,7 +25,7 @@ pcl::tracking::KLDAdaptiveParticleFilterTracker<PointInT, StateT>::initCompute (
   coherence_->setTargetCloud (input_);
 
   if (!change_detector_)
-    change_detector_ = boost::shared_ptr<pcl::octree::OctreePointCloudChangeDetector<PointInT> >(new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));
+    change_detector_.reset (new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));
 
   if (!particles_ || particles_->points.empty ())
     initParticles (true);

diff --git a/tracking/include/pcl/tracking/impl/particle_filter.hpp b/tracking/include/pcl/tracking/impl/particle_filter.hpp
@@ -29,7 +29,7 @@ pcl::tracking::ParticleFilterTracker<PointInT, StateT>::initCompute ()
   coherence_->setTargetCloud (input_);
 
   if (!change_detector_)
-    change_detector_ = boost::shared_ptr<pcl::octree::OctreePointCloudChangeDetector<PointInT> >(new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));
+    change_detector_.reset (new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));
 
   if (!particles_ || particles_->points.empty ())
     initParticles (true);