Add pcl::make_shared that automatically handles aligned allocations

2d/include/pcl/2d/convolution.h

@@ -38,6 +38,7 @@
 #pragma once
 
 #include <pcl/pcl_base.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/filters/filter.h>
 #include <pcl/point_types.h>
 
@@ -53,16 +54,16 @@ namespace pcl
     float direction;
     float magnitude_x;
     float magnitude_y;
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW     // make sure our new allocators are aligned
+    PCL_MAKE_ALIGNED_OPERATOR_NEW     // make sure our new allocators are aligned
   } EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
 
-  /** \brief A 2D convolution class. */ 
+  /** \brief A 2D convolution class. */
   template <typename PointT>
   class Convolution : public Filter<PointT>
   {
     public:
       using Filter<PointT>::input_;
-      
+
       /**
        * Extra pixels are added to the input image so that convolution can be performed over the entire image.
        *

2d/include/pcl/2d/edge.h

@@ -38,6 +38,7 @@
 #pragma once
 
 #include <pcl/pcl_base.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/2d/convolution.h>
 #include <pcl/2d/kernel.h>
 
@@ -298,7 +299,7 @@ namespace pcl
         input_ = input;
       }
 
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
 }
 #include <pcl/2d/impl/edge.hpp>

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h

@@ -40,6 +40,7 @@
 #include <QDebug>
 
 #include <pcl/apps/cloud_composer/items/cloud_composer_item.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/search/kdtree.h>
 
@@ -69,7 +70,7 @@ namespace pcl
       public:
 
         //This is needed because we have members which are Vector4f and Quaternionf
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
 
         CloudItem (const QString name,
                    const pcl::PCLPointCloud2::Ptr cloud_ptr,

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/impl/common_types.hpp

@@ -43,6 +43,8 @@
 
 #include <limits>
 
+#include <pcl/pcl_macros.h>
+
 namespace pcl
 {
   namespace ihs
@@ -56,7 +58,7 @@ namespace pcl
       unsigned int age;
       uint32_t     directions;
 
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      PCL_MAKE_ALIGNED_OPERATOR_NEW
     };
 
     struct PointIHS : public pcl::ihs::_PointIHS

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h

@@ -41,6 +41,7 @@
 #pragma once
 
 #include <pcl/pcl_exports.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
 #include <pcl/apps/in_hand_scanner/common_types.h>
 #include <pcl/apps/in_hand_scanner/opengl_viewer.h>
@@ -299,8 +300,7 @@ namespace pcl
         bool destructor_called_;
 
       public:
-
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
     };
   } // End namespace ihs
 } // End namespace pcl

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h

@@ -41,6 +41,7 @@
 #pragma once
 
 #include <pcl/pcl_exports.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/common/time.h>
 #include <pcl/apps/in_hand_scanner/common_types.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
@@ -218,8 +219,7 @@ namespace pcl
         bool destructor_called_;
 
       public:
-
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
     };
   } // End namespace ihs
 } // End namespace pcl

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h

@@ -41,6 +41,7 @@
 #pragma once
 
 #include <pcl/pcl_exports.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/common/time.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
 #include <pcl/apps/in_hand_scanner/common_types.h>
@@ -98,8 +99,7 @@ namespace pcl
           Eigen::Isometry3d      transformation;
 
         public:
-
-          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+          PCL_MAKE_ALIGNED_OPERATOR_NEW
       };
     } // End namespace detail
 
@@ -167,8 +167,7 @@ namespace pcl
             Eigen::Isometry3d transformation;
 
           public:
-
-            EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+            PCL_MAKE_ALIGNED_OPERATOR_NEW
         };
 
         /** \brief Constructor. */
@@ -445,8 +444,7 @@ namespace pcl
         int y_prev_;
 
       public:
-
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
     };
   } // End namespace ihs
 } // End namespace pcl

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/visibility_confidence.h

@@ -43,6 +43,7 @@
 #include <cstdint>
 
 #include <pcl/pcl_exports.h>
+#include <pcl/pcl_macros.h>
 #include <pcl/apps/in_hand_scanner/eigen.h>
 
 namespace pcl
@@ -71,8 +72,7 @@ namespace pcl
         Vertices vertices_;
 
       public:
-
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
     };
 
     PCL_EXPORTS void

common/CMakeLists.txt

@@ -75,6 +75,7 @@ set(incs
   include/pcl/PointIndices.h
   include/pcl/register_point_struct.h
   include/pcl/conversions.h
+  include/pcl/make_shared.h
 )
 
 set(common_incs

common/include/pcl/common/centroid.h

@@ -38,6 +38,7 @@
 
 #pragma once
 
+#include <pcl/pcl_macros.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_traits.h>
 #include <pcl/PointIndices.h>
@@ -1050,7 +1051,7 @@ namespace pcl
         return (num_points_);
       }
 
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      PCL_MAKE_ALIGNED_OPERATOR_NEW
 
     private:
 

common/include/pcl/common/impl/accumulators.hpp

@@ -46,6 +46,7 @@
 #include <boost/fusion/include/as_vector.hpp>
 #include <boost/fusion/include/filter_if.hpp>
 
+#include <pcl/pcl_macros.h>
 #include <pcl/point_types.h>
 
 namespace pcl
@@ -80,7 +81,7 @@ namespace pcl
       template <typename PointT> void
       get (PointT& t, size_t n) const { t.getVector3fMap () = xyz / n; }
 
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      PCL_MAKE_ALIGNED_OPERATOR_NEW
 
     };
 
@@ -113,7 +114,7 @@ namespace pcl
 #endif
       }
 
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      PCL_MAKE_ALIGNED_OPERATOR_NEW
 
     };
 

common/include/pcl/common/poses_from_matches.h

@@ -82,7 +82,7 @@ namespace pcl
           bool operator()(const PoseEstimate& pe1, const PoseEstimate& pe2) const { return pe1.score>pe2.score;}
         };
         public:
-          EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+          PCL_MAKE_ALIGNED_OPERATOR_NEW
       };
 
       // =====TYPEDEFS=====

common/include/pcl/common/vector_average.h

@@ -37,6 +37,7 @@
 
 #pragma once
 
+#include <pcl/pcl_macros.h>
 #include <pcl/common/eigen.h>
 
 namespace pcl 
@@ -96,7 +97,7 @@ namespace pcl
         inline void
         getEigenVector1 (Eigen::Matrix<real, dimension, 1>& eigen_vector1) const;
 
-        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+        PCL_MAKE_ALIGNED_OPERATOR_NEW
 
         //-----VARIABLES-----
 

common/include/pcl/correspondence.h

@@ -46,6 +46,7 @@
 #include <Eigen/StdVector>
 #include <Eigen/Geometry>
 #include <pcl/pcl_exports.h>
+#include <pcl/pcl_macros.h>
 
 namespace pcl
 {
@@ -82,10 +83,10 @@ namespace pcl
 
     /** \brief Empty destructor. */
     virtual ~Correspondence () {}
-    
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+    PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
-  
+
   /** \brief overloaded << operator */
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Correspondence& c);
 
@@ -128,7 +129,7 @@ namespace pcl
     /** \brief Empty destructor. */
     virtual ~PointCorrespondence3D () {}
 
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
   using PointCorrespondences3DVector = std::vector<PointCorrespondence3D, Eigen::aligned_allocator<PointCorrespondence3D> >;
 
@@ -144,7 +145,7 @@ namespace pcl
     /** \brief Empty destructor. */
     virtual ~PointCorrespondence6D () {}
 
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    PCL_MAKE_ALIGNED_OPERATOR_NEW
   };
   using PointCorrespondences6DVector = std::vector<PointCorrespondence6D, Eigen::aligned_allocator<PointCorrespondence6D> >;