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Transition to standard smart pointers, part 14 #3497

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Dec 4, 2019
Merged

Transition to standard smart pointers, part 14 #3497

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e7d621e
[apps] 3d_rec_framework: transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
fbc15a8
[apps] in_hand_scanner: transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
98a5b29
[apps] point_cloud_editor: transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
8b86efe
[apps] cloud_composer: transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
666a5a7
[apps] modeler: transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
04905ae
[apps] transition boost -> std pointers
SergioRAgostinho Dec 3, 2019
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6 changes: 4 additions & 2 deletions ...3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/crh_estimator.h
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Expand Up @@ -11,6 +11,8 @@
#include <pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h>
#include <pcl/features/crh.h>

#include <memory>

namespace pcl
{
namespace rec_3d_framework
Expand All @@ -23,7 +25,7 @@ namespace pcl
using GlobalEstimator<PointInT, FeatureT>::normal_estimator_;
using GlobalEstimator<PointInT, FeatureT>::normals_;

typename boost::shared_ptr<GlobalEstimator<PointInT, FeatureT> > feature_estimator_;
std::shared_ptr<GlobalEstimator<PointInT, FeatureT>> feature_estimator_;
using CRHPointCloud = pcl::PointCloud<pcl::Histogram<90> >;
std::vector< CRHPointCloud::Ptr > crh_histograms_;

Expand All @@ -35,7 +37,7 @@ namespace pcl
}

void
setFeatureEstimator(typename boost::shared_ptr<GlobalEstimator<PointInT, FeatureT> > & feature_estimator) {
setFeatureEstimator(std::shared_ptr<GlobalEstimator<PointInT, FeatureT>>& feature_estimator) {
feature_estimator_ = feature_estimator;
}

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6 changes: 4 additions & 2 deletions ...rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/global_estimator.h
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Expand Up @@ -9,6 +9,8 @@

#include <pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h>

#include <memory>

namespace pcl
{
namespace rec_3d_framework
Expand All @@ -20,7 +22,7 @@ namespace pcl
using PointInTPtr = typename pcl::PointCloud<PointInT>::Ptr;
using FeatureTPtr = typename pcl::PointCloud<FeatureT>::Ptr;

typename boost::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal> > normal_estimator_;
std::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal>> normal_estimator_;

pcl::PointCloud<pcl::Normal>::Ptr normals_;

Expand All @@ -34,7 +36,7 @@ namespace pcl

virtual bool computedNormals() = 0;

void setNormalEstimator(boost::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal> > & ne) {
void setNormalEstimator(std::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal>>& ne) {
normal_estimator_ = ne;
}

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24 changes: 11 additions & 13 deletions ...d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h
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Expand Up @@ -14,6 +14,8 @@
#include <pcl/keypoints/sift_keypoint.h>
#include <pcl/keypoints/susan.h>

#include <memory>

namespace pcl
{
template<>
Expand Down Expand Up @@ -83,8 +85,8 @@ namespace pcl
using KeypointExtractor<PointInT>::input_;
using KeypointExtractor<PointInT>::radius_;
float sampling_density_;
boost::shared_ptr<std::vector<std::vector<int> > > neighborhood_indices_;
boost::shared_ptr<std::vector<std::vector<float> > > neighborhood_dist_;
std::shared_ptr<std::vector<std::vector<int>>> neighborhood_indices_;
std::shared_ptr<std::vector<std::vector<float>>> neighborhood_dist_;

void
filterPlanar (PointInTPtr & input, PointInTPtr & keypoints_cloud)
Expand Down Expand Up @@ -380,19 +382,15 @@ namespace pcl
using PointInTPtr = typename pcl::PointCloud<PointInT>::Ptr;
using FeatureTPtr = typename pcl::PointCloud<FeatureT>::Ptr;

typename boost::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal> > normal_estimator_;
//typename boost::shared_ptr<UniformSampling<PointInT> > keypoint_extractor_;
std::vector<typename boost::shared_ptr<KeypointExtractor<PointInT> > > keypoint_extractor_; //this should be a vector
std::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal>> normal_estimator_;
std::vector<std::shared_ptr<KeypointExtractor<PointInT>>> keypoint_extractor_; //this should be a vector
float support_radius_;
//bool filter_planar_;

bool adaptative_MLS_;

boost::shared_ptr<std::vector<std::vector<int> > > neighborhood_indices_;
boost::shared_ptr<std::vector<std::vector<float> > > neighborhood_dist_;

//std::vector< std::vector<int> > neighborhood_indices_;
//std::vector< std::vector<float> > neighborhood_dist_;
std::shared_ptr<std::vector<std::vector<int>>> neighborhood_indices_;
std::shared_ptr<std::vector<std::vector<float>>> neighborhood_dist_;

void
computeKeypoints (PointInTPtr & cloud, PointInTPtr & keypoints, pcl::PointCloud<pcl::Normal>::Ptr & normals)
Expand Down Expand Up @@ -433,7 +431,7 @@ namespace pcl
estimate (PointInTPtr & in, PointInTPtr & processed, PointInTPtr & keypoints, FeatureTPtr & signatures)=0;

void
setNormalEstimator (boost::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal> > & ne)
setNormalEstimator (std::shared_ptr<PreProcessorAndNormalEstimator<PointInT, pcl::Normal>> & ne)
{
normal_estimator_ = ne;
}
Expand All @@ -442,13 +440,13 @@ namespace pcl
* \brief Right now only uniformSampling keypoint extractor is allowed
*/
void
addKeypointExtractor (boost::shared_ptr<KeypointExtractor<PointInT> > & ke)
addKeypointExtractor (std::shared_ptr<KeypointExtractor<PointInT>>& ke)
{
keypoint_extractor_.push_back (ke);
}

void
setKeypointExtractors (std::vector<typename boost::shared_ptr<KeypointExtractor<PointInT> > > & ke)
setKeypointExtractors (std::vector<std::shared_ptr<KeypointExtractor<PointInT>>>& ke)
{
keypoint_extractor_ = ke;
}
Expand Down
12 changes: 6 additions & 6 deletions apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/source.h
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Expand Up @@ -33,9 +33,9 @@ namespace pcl
using PointTPtrConst = typename pcl::PointCloud<PointT>::ConstPtr;

public:
boost::shared_ptr<std::vector<PointTPtr> > views_;
boost::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > > poses_;
boost::shared_ptr<std::vector<float> > self_occlusions_;
std::shared_ptr<std::vector<PointTPtr>> views_;
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>> poses_;
std::shared_ptr<std::vector<float>> self_occlusions_;
std::string id_;
std::string class_;
PointTPtr assembled_;
Expand Down Expand Up @@ -84,7 +84,7 @@ namespace pcl
protected:
using ModelT = Model<PointInT>;
std::string path_;
boost::shared_ptr<std::vector<ModelT> > models_;
std::shared_ptr<std::vector<ModelT>> models_;
float model_scale_;
bool filter_duplicate_views_;
bool load_views_;
Expand Down Expand Up @@ -215,13 +215,13 @@ namespace pcl
/**
* \brief Get the generated model
*/
boost::shared_ptr<std::vector<ModelT> >
std::shared_ptr<std::vector<ModelT>>
getModels ()
{
return models_;
}

boost::shared_ptr<std::vector<ModelT> >
std::shared_ptr<std::vector<ModelT>>
getModels (std::string & model_id)
{

Expand Down
8 changes: 4 additions & 4 deletions apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_classifier.h
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Expand Up @@ -84,10 +84,10 @@ namespace pcl
PointInTPtr input_;

/** \brief Model data source */
typename boost::shared_ptr<pcl::rec_3d_framework::Source<PointInT> > source_;
std::shared_ptr<pcl::rec_3d_framework::Source<PointInT>> source_;

/** \brief Computes a feature */
typename boost::shared_ptr<GlobalEstimator<PointInT, FeatureT> > estimator_;
std::shared_ptr<GlobalEstimator<PointInT, FeatureT>> estimator_;

/** \brief Descriptor name */
std::string descr_name_;
Expand Down Expand Up @@ -176,7 +176,7 @@ namespace pcl
* \brief Sets the model data source_
*/
void
setDataSource (typename boost::shared_ptr<Source<PointInT> > & source)
setDataSource (std::shared_ptr<Source<PointInT>>& source)
{
source_ = source;
}
Expand All @@ -186,7 +186,7 @@ namespace pcl
*/

void
setFeatureEstimator (typename boost::shared_ptr<GlobalEstimator<PointInT, FeatureT> > & feat)
setFeatureEstimator (std::shared_ptr<GlobalEstimator<PointInT, FeatureT>>& feat)
{
estimator_ = feat;
}
Expand Down
20 changes: 10 additions & 10 deletions apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h
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Expand Up @@ -63,13 +63,13 @@ namespace pcl
PointInTPtr input_;

/** \brief Model data source */
typename boost::shared_ptr<pcl::rec_3d_framework::Source<PointInT> > source_;
std::shared_ptr<pcl::rec_3d_framework::Source<PointInT>> source_;

/** \brief Computes a feature */
typename boost::shared_ptr<CRHEstimation<PointInT, FeatureT> > crh_estimator_;
std::shared_ptr<CRHEstimation<PointInT, FeatureT>> crh_estimator_;

/** \brief Hypotheses verification algorithm */
typename boost::shared_ptr<HypothesisVerification<PointInT, PointInT> > hv_algorithm_;
std::shared_ptr<HypothesisVerification<PointInT, PointInT>> hv_algorithm_;

/** \brief Descriptor name */
std::string descr_name_;
Expand Down Expand Up @@ -139,8 +139,8 @@ namespace pcl

int NN_;

boost::shared_ptr<std::vector<ModelT> > models_;
boost::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > > transforms_;
std::shared_ptr<std::vector<ModelT>> models_;
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>> transforms_;

public:

Expand Down Expand Up @@ -187,7 +187,7 @@ namespace pcl
* \brief Sets the model data source_
*/
void
setDataSource (typename boost::shared_ptr<Source<PointInT> > & source)
setDataSource (std::shared_ptr<Source<PointInT>>& source)
{
source_ = source;
}
Expand All @@ -197,7 +197,7 @@ namespace pcl
*/

void
setFeatureEstimator (typename boost::shared_ptr<CRHEstimation<PointInT, FeatureT> > & feat)
setFeatureEstimator (std::shared_ptr<CRHEstimation<PointInT, FeatureT>>& feat)
{
crh_estimator_ = feat;
}
Expand All @@ -206,7 +206,7 @@ namespace pcl
* \brief Sets the HV algorithm
*/
void
setHVAlgorithm (typename boost::shared_ptr<HypothesisVerification<PointInT, PointInT> > & alg)
setHVAlgorithm (std::shared_ptr<HypothesisVerification<PointInT, PointInT>>& alg)
{
hv_algorithm_ = alg;
}
Expand Down Expand Up @@ -245,13 +245,13 @@ namespace pcl
void
recognize ();

boost::shared_ptr<std::vector<ModelT> >
std::shared_ptr<std::vector<ModelT>>
getModels ()
{
return models_;
}

boost::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > >
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>>
getTransforms ()
{
return transforms_;
Expand Down
24 changes: 12 additions & 12 deletions apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h
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Expand Up @@ -61,13 +61,13 @@ namespace pcl
PointInTPtr input_;

/** \brief Model data source */
typename boost::shared_ptr<pcl::rec_3d_framework::Source<PointInT> > source_;
std::shared_ptr<pcl::rec_3d_framework::Source<PointInT>> source_;

/** \brief Computes a feature */
typename boost::shared_ptr<OURCVFHEstimator<PointInT, FeatureT> > micvfh_estimator_;
std::shared_ptr<OURCVFHEstimator<PointInT, FeatureT>> micvfh_estimator_;

/** \brief Hypotheses verification algorithm */
typename boost::shared_ptr<HypothesisVerification<PointInT, PointInT> > hv_algorithm_;
std::shared_ptr<HypothesisVerification<PointInT, PointInT>> hv_algorithm_;

/** \brief Descriptor name */
std::string descr_name_;
Expand Down Expand Up @@ -126,7 +126,7 @@ namespace pcl

std::vector<flann::Matrix<float> > single_categories_data_;
std::vector<flann::Index<DistT> *> single_categories_index_;
std::vector<boost::shared_ptr<std::vector<int> > > single_categories_pointers_to_models_;
std::vector<std::shared_ptr<std::vector<int>>> single_categories_pointers_to_models_;
std::map<std::string, int> category_to_vectors_indices_;
std::vector<std::string> categories_to_be_searched_;
bool use_single_categories_;
Expand Down Expand Up @@ -163,7 +163,7 @@ namespace pcl
}

inline void
convertToFLANN (const std::vector<flann_model> &models, const boost::shared_ptr<std::vector<int> > & indices, flann::Matrix<float> &data)
convertToFLANN (const std::vector<flann_model> &models, const std::shared_ptr<std::vector<int>>& indices, flann::Matrix<float> &data)
{
data.rows = indices->size ();
data.cols = models[0].descr.size (); // number of histogram bins
Expand Down Expand Up @@ -196,8 +196,8 @@ namespace pcl

int NN_;

boost::shared_ptr<std::vector<ModelT> > models_;
boost::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > > transforms_;
std::shared_ptr<std::vector<ModelT>> models_;
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>> transforms_;

std::vector<float> descriptor_distances_;

Expand Down Expand Up @@ -268,7 +268,7 @@ namespace pcl
* \brief Sets the model data source_
*/
void
setDataSource (typename boost::shared_ptr<Source<PointInT> > & source)
setDataSource (std::shared_ptr<Source<PointInT>>& source)
{
source_ = source;
}
Expand All @@ -278,7 +278,7 @@ namespace pcl
*/

void
setFeatureEstimator (typename boost::shared_ptr<OURCVFHEstimator<PointInT, FeatureT> > & feat)
setFeatureEstimator (std::shared_ptr<OURCVFHEstimator<PointInT, FeatureT>>& feat)
{
micvfh_estimator_ = feat;
}
Expand All @@ -287,7 +287,7 @@ namespace pcl
* \brief Sets the HV algorithm
*/
void
setHVAlgorithm (typename boost::shared_ptr<HypothesisVerification<PointInT, PointInT> > & alg)
setHVAlgorithm (std::shared_ptr<HypothesisVerification<PointInT, PointInT>>& alg)
{
hv_algorithm_ = alg;
}
Expand Down Expand Up @@ -326,13 +326,13 @@ namespace pcl
void
recognize ();

boost::shared_ptr<std::vector<ModelT> >
std::shared_ptr<std::vector<ModelT>>
getModels ()
{
return models_;
}

boost::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > >
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>>
getTransforms ()
{
return transforms_;
Expand Down
4 changes: 2 additions & 2 deletions ...3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_classifier.hpp
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Expand Up @@ -11,7 +11,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
void
pcl::rec_3d_framework::GlobalNNPipeline<Distance, PointInT, FeatureT>::loadFeaturesAndCreateFLANN ()
{
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
auto models = source_->getModels ();
for (std::size_t i = 0; i < models->size (); i++)
{
std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);
Expand Down Expand Up @@ -160,7 +160,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>

//use the source to know what has to be trained and what not, checking if the descr_name directory exists
//unless force_retrain is true, then train everything
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
auto models = source_->getModels ();
std::cout << "Models size:" << models->size () << std::endl;

if (force_retrain)
Expand Down
8 changes: 4 additions & 4 deletions ...ec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp
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Expand Up @@ -83,7 +83,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
void
pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::loadFeaturesAndCreateFLANN ()
{
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
auto models = source_->getModels ();
for (std::size_t i = 0; i < models->size (); i++)
{
std::string path = source_->getModelDescriptorDir (models->at (i), training_dir_, descr_name_);
Expand Down Expand Up @@ -371,8 +371,8 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
hv_algorithm_->verify ();
hv_algorithm_->getMask (mask_hv);

boost::shared_ptr < std::vector<ModelT> > models_temp;
boost::shared_ptr < std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > > transforms_temp;
std::shared_ptr<std::vector<ModelT>> models_temp;
std::shared_ptr<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f>>> transforms_temp;

models_temp.reset (new std::vector<ModelT>);
transforms_temp.reset (new std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> >);
Expand Down Expand Up @@ -400,7 +400,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>

//use the source to know what has to be trained and what not, checking if the descr_name directory exists
//unless force_retrain is true, then train everything
boost::shared_ptr < std::vector<ModelT> > models = source_->getModels ();
auto models = source_->getModels ();
std::cout << "Models size:" << models->size () << std::endl;

if (force_retrain)
Expand Down
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