currently non-compiling code with fixed pointers

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloud.h

@@ -44,6 +44,7 @@
 #include <QtGui/QColor>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 #include <pcl/apps/point_cloud_editor/statistics.h>
+#include <pcl/pcl_macros.h>  // for pcl::shared_ptr, pcl::weak_ptr
 #ifdef OPENGL_IS_A_FRAMEWORK
 # include <OpenGL/gl.h>
 # include <OpenGL/glu.h>
@@ -56,6 +57,10 @@
 # include <GL/glu.h>
 #endif
 
+/// avoid circular dependencies by forward declaring
+class CopyBuffer;
+class Selection;
+
 /// @brief A wrapper which allows to use any implementation of cloud provided by
 /// a third-party library.
 /// @details This wrapper attempts to create a simple interface for displaying
@@ -75,6 +80,12 @@
 class Cloud : public Statistics
 {
   public:
+    /// The type for shared pointer pointing to a cloud object
+    using Ptr = pcl::shared_ptr<Cloud>;
+
+    /// The type for shared pointer pointing to a constant cloud object
+    using ConstPtr = pcl::shared_ptr<const Cloud>;
+
     /// @brief Default Constructor
     Cloud ();
 
@@ -85,7 +96,7 @@ class Cloud : public Statistics
     Cloud (const Cloud& copy);
 
     /// @brief Construct a cloud from a Cloud3D.
-    /// @details This constructor creates a cloud object with the passed 
+    /// @details This constructor creates a cloud object with the passed
     /// cloud object stored with the internal representation. The member
     /// variables of this object are initialized but not set.
     Cloud (const Cloud3D& cloud, bool register_stats=false);
@@ -201,7 +212,7 @@ class Cloud : public Statistics
     /// a faster rendering mode; this also occurs if the selection object is
     /// empty.
     void
-    setSelection (const SelectionPtr& selection_ptr);
+    setSelection (const Selection::Ptr& selection_ptr);
 
     /// @brief Sets the RGB values for coloring points in COLOR_BY_PURE mode.
     /// @param r the value for red color
@@ -274,12 +285,12 @@ class Cloud : public Statistics
     /// @param point the new point to be added.
     void
     append (const Point3D& point);
-    
+
     /// @brief Appends the points of the passed cloud to this cloud.
     /// @param cloud the cloud to be appended to this cloud.
     void
     append (const Cloud& cloud);
-    
+
     /// @brief Removes the points in selection from the cloud.
     /// @details Each indexed point in the selection will be removed from this
     /// container.
@@ -309,7 +320,7 @@ class Cloud : public Statistics
     /// @param new_size the new size of the cloud.
     void
     resize (unsigned int new_size);
-    
+
     /// @brief Removes all points from the cloud and resets the object
     void
     clear ();
@@ -412,7 +423,7 @@ class Cloud : public Statistics
     /// @brief A weak pointer pointing to the selection object.
     /// @details This implementation uses the weak pointer to allow for a lazy
     /// update of the cloud if the selection object is destroyed.
-    std::weak_ptr<Selection> selection_wk_ptr_;
+    Selection::WeakPtr selection_wk_ptr_;
 
     /// Flag that indicates whether a color ramp should be used (true) or not
     /// (false) when displaying the cloud

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudEditorWidget.h

@@ -40,10 +40,13 @@
 
 #pragma once
 
-#include <pcl/apps/point_cloud_editor/localTypes.h>
-#include <pcl/apps/point_cloud_editor/common.h>
+#include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/commandQueue.h>
+#include <pcl/apps/point_cloud_editor/common.h>
+#include <pcl/apps/point_cloud_editor/copyBuffer.h>
 #include <pcl/apps/point_cloud_editor/denoiseParameterForm.h>
+#include <pcl/apps/point_cloud_editor/localTypes.h>
+#include <pcl/apps/point_cloud_editor/selection.h>
 #include <pcl/apps/point_cloud_editor/statisticsDialog.h>
 #include <pcl/apps/point_cloud_editor/toolInterface.h>
 
@@ -188,7 +191,7 @@ class CloudEditorWidget : public QGLWidget
     void
     showStat ();
 
-  protected:  
+  protected:
     /// initializes GL
     void
     initializeGL () override;
@@ -218,17 +221,16 @@ class CloudEditorWidget : public QGLWidget
     keyPressEvent (QKeyEvent *event) override;
 
   private:
-
     /// @brief Attempts to load a pcd file
     /// @param filename The name of the pcd file to be loaded.
     /// @remarks throws if the passed file can not be loaded.
     void
     loadFilePCD(const std::string &filename);
-    
+
     /// @brief Adds all of our file loader functions to the extension map
     void
     initFileLoadMap();
-    
+
     /// @brief Returns true if the cloud stored in a file is colored
     /// @param fileName a reference to a string storing the path of a cloud
     bool
@@ -259,9 +261,9 @@ class CloudEditorWidget : public QGLWidget
 
     /// a map of file type extensions to loader functions.
     FileLoadMap cloud_load_func_map_;
-    
+
     /// a pointer to the cloud being edited.
-    CloudPtr cloud_ptr_;
+    Cloud::Ptr cloud_ptr_;
 
     /// The display size, in pixels, of the cloud points
     unsigned int point_size_;
@@ -271,16 +273,16 @@ class CloudEditorWidget : public QGLWidget
 
     /// The transformation tool being used. Either a cloud transform tool or
     /// a selection transform tool is activated at a time.
-    std::shared_ptr<ToolInterface> tool_ptr_;
+    ToolInterface::Ptr tool_ptr_;
 
     /// a pointer to the selection object
-    SelectionPtr selection_ptr_;
+    Selection::Ptr selection_ptr_;
 
     /// a pointer to the copy buffer object.
-    CopyBufferPtr copy_buffer_ptr_;
+    CopyBuffer::Ptr copy_buffer_ptr_;
 
     /// a pointer to the command queue object
-    CommandQueuePtr command_queue_ptr_;
+    CommandQueue::Ptr command_queue_ptr_;
 
     /// The camera field of view
     double cam_fov_;
@@ -311,6 +313,4 @@ class CloudEditorWidget : public QGLWidget
 
     /// a dialog displaying the statistics of the cloud editor
     StatisticsDialog stat_dialog_;
-
-
 };

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudTransformTool.h

@@ -40,8 +40,9 @@
 
 #pragma once
 
-#include <pcl/apps/point_cloud_editor/toolInterface.h>
+#include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
+#include <pcl/apps/point_cloud_editor/toolInterface.h>
 #include <pcl/apps/point_cloud_editor/trackball.h>
 
 /// @brief The cloud transform tool computes the transform matrix from user's
@@ -52,7 +53,7 @@ class CloudTransformTool : public ToolInterface
   public:
     /// @brief Constructor
     /// @param cloud_ptr a shared pointer pointing to the cloud object.
-    CloudTransformTool (CloudPtr cloud_ptr);
+    CloudTransformTool (Cloud::Ptr cloud_ptr);
 
     /// @brief Destructor
     ~CloudTransformTool ();
@@ -123,11 +124,11 @@ class CloudTransformTool : public ToolInterface
     float transform_matrix_[MATRIX_SIZE];
 
     /// a shared pointer pointing to the cloud object.
-    CloudPtr cloud_ptr_;
+    Cloud::Ptr cloud_ptr_;
 
     /// the trackball associated with this transform
     TrackBall trackball_;
-    
+
     /// last recorded mouse positions
     int x_, y_;
 

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/command.h

@@ -43,11 +43,16 @@
 
 #include <pcl/apps/point_cloud_editor/localTypes.h>
 
+#include <pcl/pcl_macros.h>  // for pcl::shared_ptr
+
 /// @brief The abstract parent class of all the command classes. Commands are
 /// non-copyable.
 class Command
 {
   public:
+    /// The type for shared pointer pointing to a command object
+    using Ptr = pcl::shared_ptr<Command>;
+
     /// @brief Destructor
     virtual ~Command ()
     {

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/commandQueue.h

@@ -43,6 +43,9 @@
 
 #include <deque>
 #include <pcl/apps/point_cloud_editor/localTypes.h>
+#include <pcl/apps/point_cloud_editor/command.h>
+
+#include <pcl/pcl_macros.h>  // for pcl::shared_ptr
 
 /// @brief A structure for managing commands
 /// @details A command queue object provides a dequeue of commands as well as
@@ -52,6 +55,9 @@
 class CommandQueue
 {
   public:
+    /// The type for shared pointer pointing to a command queue object
+    using Ptr = pcl::shared_ptr<CommandQueue>;
+
     /// @brief Default Constructor
     /// @details Creates a command queue object and makes its depth limit
     /// be the default value.
@@ -73,7 +79,7 @@ class CommandQueue
     /// @param command_ptr a shared pointer pointing to a command object whose
     /// execute function will be invoked by this object.
     void
-    execute (const CommandPtr&);
+    execute (const Command::Ptr&);
 
     /// @brief Undoes the last command by popping the tail of the queue, invoke
     /// the undo function of the command.
@@ -92,16 +98,16 @@ class CommandQueue
 
     /// @brief The default maximal size of the depth limit
     static const unsigned int DEFAULT_MAX_SIZE_ = 200;
-    
+
   private:
     /// @brief Copy constructor - object is non-copyable
     CommandQueue(const CommandQueue&)
     {
       assert(false);
     }
-    
+
     /// @brief Equal operator - object is non-copyable
-    CommandQueue& 
+    CommandQueue&
     operator= (const CommandQueue&)
     {
       assert(false); return (*this);
@@ -113,7 +119,7 @@ class CommandQueue
     enforceDequeLimit ();
 
     /// The internal representation of this object.
-    std::deque<CommandPtr> command_deque_;
+    std::deque<Command::Ptr> command_deque_;
 
     /// The depth limit of the command queue.
     unsigned int depth_limit_;

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/copyBuffer.h

@@ -40,14 +40,23 @@
 
 #pragma once
 
-#include <pcl/apps/point_cloud_editor/localTypes.h>
 #include <pcl/apps/point_cloud_editor/cloud.h>
+#include <pcl/apps/point_cloud_editor/localTypes.h>
+#include <pcl/apps/point_cloud_editor/statistics.h>
+
+#include <pcl/pcl_macros.h>  // for pcl::shared_ptr
 
 /// @brief a buffer holding the points being copied and a set of operations for
 /// manipulating the buffer.
 class CopyBuffer : public Statistics
 {
   public:
+    /// The type for shared pointer pointing to a copy buffer
+    using Ptr = pcl::shared_ptr<CopyBuffer>;
+
+    /// The type for shared pointer pointing to a constant copy buffer
+    using ConstPtr = pcl::shared_ptr<const CopyBuffer>;
+
     /// @brief Default Constructor
     /// @details This creates an empty buffer
     CopyBuffer (bool register_stats=false)
@@ -66,7 +75,7 @@ class CopyBuffer : public Statistics
     /// copied
     /// @param selection a const reference to the selected points object
     void
-    set (const ConstCloudPtr& cloud_ptr, const Selection& selection);
+    set (const Cloud::ConstPtr& cloud_ptr, const Selection& selection);
 
     /// @brief Returns the points stored in the internal buffer as a const Cloud
     const Cloud&
@@ -75,11 +84,11 @@ class CopyBuffer : public Statistics
     /// @brief Returns the points stored in the internal buffer as a Cloud
     Cloud&
     get();
-    
+
     /// @brief Removes all the points from the copy buffer.
     void
     clean ();
-        
+
     /// @brief Get the statistics of the copied points in string.
     std::string
     getStat () const override;
@@ -93,5 +102,5 @@ class CopyBuffer : public Statistics
 
   private:
     /// a cloud object holding all the copied points.
-    Cloud buffer_; 
+    Cloud buffer_;
 };

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/copyCommand.h

@@ -40,9 +40,11 @@
 
 #pragma once
 
+#include <pcl/apps/point_cloud_editor/cloud.h>
 #include <pcl/apps/point_cloud_editor/command.h>
-#include <pcl/apps/point_cloud_editor/localTypes.h>
 #include <pcl/apps/point_cloud_editor/copyBuffer.h>
+#include <pcl/apps/point_cloud_editor/localTypes.h>
+#include <pcl/apps/point_cloud_editor/selection.h>
 
 class CopyCommand : public Command
 {
@@ -51,9 +53,9 @@ class CopyCommand : public Command
     /// @param copy_buffer_ptr a shared pointer pointing to the copy buffer.
     /// @param selection_ptr a shared pointer pointing to the selection object.
     /// @param cloud_ptr a shared pointer pointing to the cloud object.
-    CopyCommand (CopyBufferPtr copy_buffer_ptr,
-                 ConstSelectionPtr selection_ptr,
-                 ConstCloudPtr cloud_ptr)
+    CopyCommand (CopyBuffer::Ptr copy_buffer_ptr,
+                 Selection::ConstPtr selection_ptr,
+                 Cloud::ConstPtr cloud_ptr)
       : copy_buffer_ptr_(std::move(copy_buffer_ptr)), selection_ptr_(std::move(selection_ptr)),
         cloud_ptr_(std::move(cloud_ptr))
     {
@@ -88,11 +90,11 @@ class CopyCommand : public Command
 
   private:
     /// a pointer to the copy buffer.
-    CopyBufferPtr copy_buffer_ptr_;
+    CopyBuffer::Ptr copy_buffer_ptr_;
 
     /// a shared pointer pointing to the selection
-    ConstSelectionPtr selection_ptr_;
+    Selection::ConstPtr selection_ptr_;
 
     /// a shared pointer pointing to the cloud
-    ConstCloudPtr cloud_ptr_;
+    Cloud::ConstPtr cloud_ptr_;
 };