[apps] transition boost -> std pointers

apps/include/pcl/apps/nn_classification.h

@@ -43,7 +43,6 @@
 #include <cfloat>
 #include <algorithm>
 #include <boost/foreach.hpp>
-#include <boost/shared_ptr.hpp>
 
 namespace pcl
 {
@@ -71,7 +70,7 @@ namespace pcl
 
       /** \brief Result is a list of class labels and scores */
       using Result = std::pair<std::vector<std::string>, std::vector<float> >;
-      using ResultPtr = boost::shared_ptr<Result>;
+      using ResultPtr = std::shared_ptr<Result>;
 
       // TODO setIndices method, distance metrics and reset tree
 
@@ -228,11 +227,11 @@ namespace pcl
         * \param k_sqr_distances the resultant squared distances to the neighboring points
         * \return a square distance to each training class
         */
-      boost::shared_ptr<std::vector<float> > 
+      std::shared_ptr<std::vector<float>>
       getSmallestSquaredDistances (std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
       {
         // Reserve space for distances
-        boost::shared_ptr<std::vector<float> > sqr_distances (new std::vector<float> (classes_.size (), FLT_MAX));
+        auto sqr_distances  = std::make_shared<std::vector<float>> (classes_.size (), FLT_MAX);
 
         // Select square distance to each class
         for (std::vector<int>::const_iterator i = k_indices.begin (); i != k_indices.end (); ++i)
@@ -251,11 +250,11 @@ namespace pcl
       getLinearBestScores (std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
       {
         // Get smallest squared distances and transform them to a score for each class
-        boost::shared_ptr<std::vector<float> > sqr_distances = getSmallestSquaredDistances (k_indices, k_sqr_distances);
+        auto sqr_distances = getSmallestSquaredDistances (k_indices, k_sqr_distances);
 
         // Transform distances to scores
         double sum_dist = 0;
-        boost::shared_ptr<std::pair<std::vector<std::string>, std::vector<float> > > result (new std::pair<std::vector<std::string>, std::vector<float> > ());
+        auto result = std::make_shared<std::pair<std::vector<std::string>, std::vector<float>>> ();
         result->first.reserve (classes_.size ());
         result->second.reserve (classes_.size ());
         for (std::vector<float>::const_iterator it = sqr_distances->begin (); it != sqr_distances->end (); ++it)
@@ -282,10 +281,10 @@ namespace pcl
       getGaussianBestScores (float gaussian_param, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
       {
         // Get smallest squared distances and transform them to a score for each class
-        boost::shared_ptr<std::vector<float> > sqr_distances = getSmallestSquaredDistances (k_indices, k_sqr_distances);
+        auto sqr_distances = getSmallestSquaredDistances (k_indices, k_sqr_distances);
 
         // Transform distances to scores
-        boost::shared_ptr<std::pair<std::vector<std::string>, std::vector<float> > > result (new std::pair<std::vector<std::string>, std::vector<float> > ());
+        auto result = std::make_shared<std::pair<std::vector<std::string>, std::vector<float>>> ();
         result->first.reserve (classes_.size ());
         result->second.reserve (classes_.size ());
         for (std::vector<float>::const_iterator it = sqr_distances->begin (); it != sqr_distances->end (); ++it)

apps/src/face_detection/openni_frame_source.cpp

@@ -1,6 +1,6 @@
 #include "pcl/apps/face_detection/openni_frame_source.h"
 #include <pcl/io/pcd_io.h>
-#include <boost/make_shared.hpp>
+#include <pcl/make_shared.h>
 
 namespace OpenNIFrameSource
 {
@@ -33,7 +33,7 @@ namespace OpenNIFrameSource
   {
     mutex_.lock ();
     ++frame_counter_;
-    most_recent_frame_ = boost::make_shared < PointCloud > (*cloud); // Make a copy of the frame
+    most_recent_frame_ = pcl::make_shared<PointCloud> (*cloud); // Make a copy of the frame
     mutex_.unlock ();
   }
 

apps/src/grabcut_2d.cpp

@@ -32,8 +32,8 @@ class GrabCutHelper : public pcl::GrabCut<pcl::PointXYZRGB>
   using pcl::GrabCut<pcl::PointXYZRGB>::input_;
 
   public:
-  using Ptr = boost::shared_ptr<GrabCutHelper>;
-  using ConstPtr = boost::shared_ptr<const GrabCutHelper>;
+  using Ptr = std::shared_ptr<GrabCutHelper>;
+  using ConstPtr = std::shared_ptr<const GrabCutHelper>;
 
   GrabCutHelper (std::uint32_t K = 5, float lambda = 50.f)
     : pcl::GrabCut<pcl::PointXYZRGB> (K, lambda)

apps/src/multiscale_feature_persistence_example.cpp

@@ -43,6 +43,7 @@
 #include <pcl/features/fpfh.h>
 
 #include <pcl/visualization/cloud_viewer.h>
+#include <pcl/make_shared.h>
 
 using namespace pcl;
 
@@ -108,7 +109,7 @@ main (int argc, char **argv)
   feature_persistence.setDistanceMetric (pcl::CS);
 
   PointCloud<FPFHSignature33>::Ptr output_features (new PointCloud<FPFHSignature33> ());
-  boost::shared_ptr<std::vector<int> > output_indices (new std::vector<int> ());
+  auto output_indices = pcl::make_shared<std::vector<int>> ();
   feature_persistence.determinePersistentFeatures (*output_features, output_indices);
 
   PCL_INFO ("persistent features cloud size: %u\n", output_features->points.size ());

apps/src/openni_mls_smoothing.cpp

@@ -72,7 +72,7 @@ class OpenNISmoothing;
 void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
                             void *stop_void)
 {
-  boost::shared_ptr<bool> stop = *static_cast<boost::shared_ptr<bool>*> (stop_void);
+  std::shared_ptr<bool> stop = *static_cast<std::shared_ptr<bool>*> (stop_void);
   if (event.getKeySym () == "s" && event.keyDown ())
   {
     *stop = ! *stop;
@@ -167,7 +167,7 @@ class OpenNISmoothing
     CloudConstPtr cloud_;
     CloudPtr cloud_smoothed_;
     int viewport_input_, viewport_smoothed_;
-    boost::shared_ptr<bool> stop_computing_;
+    std::shared_ptr<bool> stop_computing_;
 };
 
 void

apps/src/openni_mobile_server.cpp

@@ -52,7 +52,7 @@ using namespace std::chrono_literals;
 
 struct PointCloudBuffers
 {
-  using Ptr = boost::shared_ptr<PointCloudBuffers>;
+  using Ptr = std::shared_ptr<PointCloudBuffers>;
   std::vector<short> points;
   std::vector<unsigned char> rgb;
 };