PointCloudLibrary · taketwo · Jan 21, 2020 · Jan 21, 2020 · Jan 21, 2020
diff --git a/cuda/common/include/pcl/cuda/point_cloud.h b/cuda/common/include/pcl/cuda/point_cloud.h
@@ -39,7 +39,7 @@
 
 #include <pcl/cuda/point_types.h>
 #include <pcl/cuda/thrust.h>
-#include <boost/shared_ptr.hpp>
+#include <pcl/make_shared.h>
 
 namespace pcl
 {

diff --git a/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h b/gpu/kinfu/include/pcl/gpu/kinfu/raycaster.h
@@ -41,7 +41,7 @@
 #include <pcl/point_types.h>
 #include <pcl/gpu/containers/device_array.h>
 #include <pcl/gpu/kinfu/pixel_rgb.h>
-#include <boost/shared_ptr.hpp>
+#include <pcl/make_shared.h>
 #include <Eigen/Geometry>
 
 namespace pcl

diff --git a/gpu/kinfu/tools/camera_pose.h b/gpu/kinfu/tools/camera_pose.h
@@ -43,6 +43,8 @@
 #include <Eigen/Geometry>
 #include <fstream>
 
+#include <pcl/make_shared.h>
+
 /**
  * @brief The CameraPoseProcessor class is an interface to extract
  * camera pose data generated by the pcl_kinfu_app program.
@@ -52,8 +54,8 @@
 class CameraPoseProcessor
 {
   public:
-    using Ptr = shared_ptr<CameraPoseProcessor>;
-    using ConstPtr = shared_ptr<const CameraPoseProcessor>;
+    using Ptr = pcl::shared_ptr<CameraPoseProcessor>;
+    using ConstPtr = pcl::shared_ptr<const CameraPoseProcessor>;
 
     virtual ~CameraPoseProcessor () {}
 

diff --git a/gpu/kinfu/tools/evaluation.h b/gpu/kinfu/tools/evaluation.h
@@ -39,7 +39,7 @@
 #include <pcl/gpu/containers/kernel_containers.h>
 #include <pcl/gpu/kinfu/kinfu.h>
 
-#include <boost/shared_ptr.hpp>
+#include <pcl/make_shared.h>
 
 #include <memory>
 #include <string>
@@ -50,8 +50,8 @@
 class Evaluation
 {
 public:
-  using Ptr = shared_ptr<Evaluation>; 
-  using ConstPtr = shared_ptr<const Evaluation>;
+  using Ptr = pcl::shared_ptr<Evaluation>;
+  using ConstPtr = pcl::shared_ptr<const Evaluation>;
   using RGB = pcl::gpu::KinfuTracker::PixelRGB;
 
   Evaluation(const std::string& folder);

diff --git a/gpu/kinfu/tools/kinfu_app.cpp b/gpu/kinfu/tools/kinfu_app.cpp
@@ -116,8 +116,8 @@ namespace pcl
       using RgbCloudConstPtr = pcl::PointCloud<RGB>::ConstPtr;
 
       public:
-        using Ptr = shared_ptr<PointCloudColorHandlerRGBCloud<PointT> >;
-        using ConstPtr = shared_ptr<const PointCloudColorHandlerRGBCloud<PointT> >;
+        using Ptr = pcl::shared_ptr<PointCloudColorHandlerRGBCloud<PointT> >;
+        using ConstPtr = pcl::shared_ptr<const PointCloudColorHandlerRGBCloud<PointT> >;
 
         /** \brief Constructor. */
         PointCloudColorHandlerRGBCloud (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors)
@@ -307,8 +307,8 @@ pcl::PolygonMesh::Ptr convertToMesh(const DeviceArray<PointXYZ>& triangles)
 
 struct CurrentFrameCloudView
 {
-  using Ptr = shared_ptr<CurrentFrameCloudView>;
-  using ConstPtr = shared_ptr<const CurrentFrameCloudView>;
+  using Ptr = pcl::shared_ptr<CurrentFrameCloudView>;
+  using ConstPtr = pcl::shared_ptr<const CurrentFrameCloudView>;
 
   CurrentFrameCloudView() : cloud_device_ (480, 640), cloud_viewer_ ("Frame Cloud Viewer")
   {

diff --git a/gpu/kinfu/tools/kinfu_app_sim.cpp b/gpu/kinfu/tools/kinfu_app_sim.cpp
@@ -101,7 +101,7 @@ using ScopeTimeT = pcl::ScopeTime;
 #include <Eigen/Dense>
 #include <cmath>
 #include <iostream>
-#include <boost/shared_ptr.hpp>
+#include <pcl/make_shared.h>
 #ifdef _WIN32
 # define WIN32_LEAN_AND_MEAN
 # include <windows.h>

diff --git a/gpu/kinfu_large_scale/tools/evaluation.h b/gpu/kinfu_large_scale/tools/evaluation.h
@@ -39,7 +39,7 @@
 #include <pcl/gpu/containers/kernel_containers.h>
 #include <pcl/gpu/kinfu_large_scale/kinfu.h>
 
-#include <boost/shared_ptr.hpp>
+#include <pcl/make_shared.h>
 
 #include <memory>
 #include <string>
@@ -50,8 +50,8 @@
 class Evaluation
 {
 public:
-  using Ptr = shared_ptr<Evaluation>; 
-  using ConstPtr = shared_ptr<const Evaluation>;
+  using Ptr = pcl::shared_ptr<Evaluation>; 
+  using ConstPtr = pcl::shared_ptr<const Evaluation>;
   using RGB = pcl::gpu::kinfuLS::PixelRGB;
 
   Evaluation(const std::string& folder);

diff --git a/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp b/gpu/kinfu_large_scale/tools/kinfuLS_app.cpp
@@ -1010,8 +1010,8 @@ struct KinFuLSApp
     {
       #ifdef HAVE_OPENNI2
       using namespace pcl::io;
-      using DepthImagePtr = shared_ptr<DepthImage>;
-      using ImagePtr = shared_ptr<Image>;
+      using DepthImagePtr = pcl::shared_ptr<DepthImage>;
+      using ImagePtr = pcl::shared_ptr<Image>;
 
       std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func1 =
           [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
@@ -1041,8 +1041,8 @@ struct KinFuLSApp
     {
       #ifdef HAVE_OPENNI
       using namespace openni_wrapper;
-      using DepthImagePtr = shared_ptr<DepthImage>;
-      using ImagePtr = shared_ptr<Image>;
+      using DepthImagePtr = pcl::shared_ptr<DepthImage>;
+      using ImagePtr = pcl::shared_ptr<Image>;
 
       std::function<void (const ImagePtr&, const DepthImagePtr&, float)> func1 =
           [this] (const ImagePtr& img, const DepthImagePtr& depth, float constant)
@@ -1177,7 +1177,7 @@ struct KinFuLSApp
 
   SceneCloudView scene_cloud_view_;
   ImageView image_view_;
-  shared_ptr<CurrentFrameCloudView> current_frame_cloud_view_;
+  pcl::shared_ptr<CurrentFrameCloudView> current_frame_cloud_view_;
 
   KinfuTracker::DepthMap depth_device_;
 
@@ -1332,7 +1332,7 @@ main (int argc, char* argv[])
   //  if (checkIfPreFermiGPU(device))
   //    return std::cout << std::endl << "Kinfu is supported only for Fermi and Kepler arhitectures. It is not even compiled for pre-Fermi by default. Exiting..." << std::endl, 1;
 
-  shared_ptr<pcl::Grabber> capture;
+  pcl::shared_ptr<pcl::Grabber> capture;
   bool triggered_capture = false;
   bool pcd_input = false;
   bool oni2_interface = false;

diff --git a/gpu/kinfu_large_scale/tools/record_maps_rgb.cpp b/gpu/kinfu_large_scale/tools/record_maps_rgb.cpp
@@ -85,8 +85,8 @@ class MapsBuffer
 
     struct MapsRgb
     {
-      using Ptr = shared_ptr<MapsRgb>;
-      using ConstPtr = shared_ptr<const MapsRgb>;
+      using Ptr = pcl::shared_ptr<MapsRgb>;
+      using ConstPtr = pcl::shared_ptr<const MapsRgb>;
 
       pcl::gpu::PtrStepSz<const PixelRGB> rgb_;
       pcl::gpu::PtrStepSz<const unsigned short> depth_;