Do not use smart pointers in openni_change_viewer

PointCloudLibrary · May 5, 2019 · 805f14e · 805f14e
1 parent 2d63b73
commit 805f14e
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/apps/src/openni_change_viewer.cpp b/apps/src/openni_change_viewer.cpp
@@ -78,22 +78,22 @@ class OpenNIChangeViewer
       octree->addPointsFromInputCloud ();
 
       std::cerr << octree->getLeafCount() << " -- ";
-      boost::shared_ptr<std::vector<int> > newPointIdxVector (new std::vector<int>);
+      std::vector<int> newPointIdxVector;
 
       // get a vector of new points, which did not exist in previous buffer
-      octree->getPointIndicesFromNewVoxels (*newPointIdxVector, noise_filter_);
+      octree->getPointIndicesFromNewVoxels (newPointIdxVector, noise_filter_);
 
-      std::cerr << newPointIdxVector->size() << std::endl;
+      std::cerr << newPointIdxVector.size() << std::endl;
 
       pcl::PointCloud<pcl::PointXYZRGBA>::Ptr filtered_cloud;
 
       switch (mode_) 
       {
         case REDDIFF_MODE:
           filtered_cloud.reset (new pcl::PointCloud<pcl::PointXYZRGBA> (*cloud));
-          filtered_cloud->points.reserve(newPointIdxVector->size());
+          filtered_cloud->points.reserve(newPointIdxVector.size());
 
-          for (const int &idx : *newPointIdxVector)
+          for (const int &idx : newPointIdxVector)
             filtered_cloud->points[idx].rgba = 255<<16;
 
           if (!viewer.wasStopped())
@@ -103,9 +103,9 @@ class OpenNIChangeViewer
         case ONLYDIFF_MODE:
           filtered_cloud.reset (new pcl::PointCloud<pcl::PointXYZRGBA>);
 
-          filtered_cloud->points.reserve(newPointIdxVector->size());
+          filtered_cloud->points.reserve(newPointIdxVector.size());
 
-          for (const int &idx : *newPointIdxVector)
+          for (const int &idx : newPointIdxVector)
             filtered_cloud->points.push_back(cloud->points[idx]);