From new to pcl::make_shared using clang-tidy

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/shot_local_estimator.h

@@ -12,6 +12,8 @@
 #include <pcl/features/shot.h>
 #include <pcl/io/pcd_io.h>
 
+#include <pcl/make_shared.h>
+
 namespace pcl
 {
   namespace rec_3d_framework
@@ -60,7 +62,7 @@ namespace pcl
             mls.setUpsamplingStepSize (0.001);
           }
 
-          normals.reset (new pcl::PointCloud<pcl::Normal>);
+          normals = pcl::make_shared<pcl::PointCloud<pcl::Normal>> ();
           {
             pcl::ScopeTime t ("Compute normals");
             normal_estimator_->estimate (in, processed, normals);
@@ -73,7 +75,7 @@ namespace pcl
             mls.process(*filtered);
 
             processed.reset(new pcl::PointCloud<PointInT>);
-            normals.reset (new pcl::PointCloud<pcl::Normal>);
+            normals = pcl::make_shared<pcl::PointCloud<pcl::Normal>> ();
             {
               pcl::ScopeTime t ("Compute normals after MLS");
               filtered->is_dense = false;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/shot_local_estimator_omp.h

@@ -12,6 +12,8 @@
 #include <pcl/features/shot_omp.h>
 #include <pcl/io/pcd_io.h>
 
+#include <pcl/make_shared.h>
+
 namespace pcl
 {
   namespace rec_3d_framework
@@ -63,7 +65,7 @@ namespace pcl
             mls.setUpsamplingStepSize (0.001);
           }
 
-          normals.reset (new pcl::PointCloud<pcl::Normal>);
+          normals = pcl::make_shared<pcl::PointCloud<pcl::Normal>> ();
           {
             pcl::ScopeTime t ("Compute normals");
             normal_estimator_->estimate (in, processed, normals);
@@ -77,7 +79,7 @@ namespace pcl
             mls.process (*filtered);
 
             processed.reset (new pcl::PointCloud<PointInT>);
-            normals.reset (new pcl::PointCloud<pcl::Normal>);
+            normals = pcl::make_shared<pcl::PointCloud<pcl::Normal>> ();
             {
               pcl::ScopeTime t ("Compute normals after MLS");
               filtered->is_dense = false;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -7,6 +7,8 @@
 
 #include <random>
 
+#include <pcl/make_shared.h>
+
 #include <pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_crh.h>
 #include <pcl/recognition/crh_alignment.h>
 #include <pcl/registration/icp.h>
@@ -47,7 +49,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
                                                                                       CRHPointCloud::Ptr & hist)
   {
 
-    hist.reset (new CRHPointCloud);
+    hist = pcl::make_shared<CRHPointCloud> ();
     std::stringstream dir;
     std::string path = source_->getModelDescriptorDir (model, training_dir_, descr_name_);
     dir << path << "/crh_" << view_id << "_" << d_id << ".pcd";
@@ -377,7 +379,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
         boost::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> >);
+        transforms_temp = pcl::make_shared<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> >> ();
 
         for (size_t i = 0; i < models_->size (); i++)
         {

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -6,9 +6,11 @@
  */
 
 #include <flann/flann.hpp>
+
+#include <pcl/make_shared.h>
 #include <pcl/apps/3d_rec_framework/pipeline/global_nn_recognizer_cvfh.h>
-#include <pcl/registration/icp.h>
 #include <pcl/common/time.h>
+#include <pcl/registration/icp.h>
 #include <pcl/visualization/pcl_visualizer.h>
 
 template<template<class > class Distance, typename PointInT, typename FeatureT>
@@ -598,7 +600,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
         boost::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> >);
+        transforms_temp = pcl::make_shared<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> >> ();
 
         for (size_t i = 0; i < models_->size (); i++)
         {

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp

@@ -1,5 +1,7 @@
 #include <flann/flann.hpp>
 
+#include <pcl/make_shared.h>
+
 #include <pcl/apps/3d_rec_framework/pipeline/local_recognizer.h>
 #include <pcl/apps/3d_rec_framework/utils/vtk_model_sampling.h>
 #include <pcl/registration/correspondence_rejection_sample_consensus.h>
@@ -430,7 +432,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       boost::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> >);
+      transforms_temp = pcl::make_shared<std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> >> ();
 
       for (size_t i = 0; i < models_->size (); i++)
       {

apps/3d_rec_framework/src/tools/global_classification.cpp

@@ -17,6 +17,8 @@
 #include <pcl/apps/dominant_plane_segmentation.h>
 #include <pcl/console/parse.h>
 
+#include <pcl/make_shared.h>
+
 template<template<class > class DistT, typename PointT, typename FeatureT>
 void
 segmentAndClassify (typename pcl::rec_3d_framework::GlobalNNPipeline<DistT, PointT, FeatureT> & global)
@@ -164,7 +166,7 @@ main (int argc, char ** argv)
   cast_source = boost::static_pointer_cast<pcl::rec_3d_framework::MeshSource<pcl::PointXYZ> > (mesh_source);
 
   boost::shared_ptr<pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal> > normal_estimator;
-  normal_estimator.reset (new pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal>);
+  normal_estimator = pcl::make_shared<pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal>> ();
   normal_estimator->setCMR (true);
   normal_estimator->setDoVoxelGrid (true);
   normal_estimator->setRemoveOutliers (true);
@@ -173,7 +175,7 @@ main (int argc, char ** argv)
   if (desc_name == "vfh")
   {
     boost::shared_ptr<pcl::rec_3d_framework::VFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > vfh_estimator;
-    vfh_estimator.reset (new pcl::rec_3d_framework::VFHEstimation<pcl::PointXYZ, pcl::VFHSignature308>);
+    vfh_estimator = pcl::make_shared<pcl::rec_3d_framework::VFHEstimation<pcl::PointXYZ, pcl::VFHSignature308>> ();
     vfh_estimator->setNormalEstimator (normal_estimator);
 
     boost::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::VFHSignature308> > cast_estimator;
@@ -193,7 +195,7 @@ main (int argc, char ** argv)
   if (desc_name == "cvfh")
   {
     boost::shared_ptr<pcl::rec_3d_framework::CVFHEstimation<pcl::PointXYZ, pcl::VFHSignature308> > vfh_estimator;
-    vfh_estimator.reset (new pcl::rec_3d_framework::CVFHEstimation<pcl::PointXYZ, pcl::VFHSignature308>);
+    vfh_estimator = pcl::make_shared<pcl::rec_3d_framework::CVFHEstimation<pcl::PointXYZ, pcl::VFHSignature308>> ();
     vfh_estimator->setNormalEstimator (normal_estimator);
 
     boost::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::VFHSignature308> > cast_estimator;
@@ -213,7 +215,7 @@ main (int argc, char ** argv)
   if (desc_name == "esf")
   {
     boost::shared_ptr<pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640> > estimator;
-    estimator.reset (new pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640>);
+    estimator = pcl::make_shared<pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640>> ();
 
     boost::shared_ptr<pcl::rec_3d_framework::GlobalEstimator<pcl::PointXYZ, pcl::ESFSignature640> > cast_estimator;
     cast_estimator = boost::dynamic_pointer_cast<pcl::rec_3d_framework::ESFEstimation<pcl::PointXYZ, pcl::ESFSignature640> > (estimator);

apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp

@@ -23,6 +23,8 @@
 #include <pcl/recognition/hv/hv_go.h>
 #include <pcl/recognition/hv/greedy_verification.h>
 
+#include <pcl/make_shared.h>
+
 void
 getScenesInDirectory (bf::path & dir, std::string & rel_path_so_far, std::vector<std::string> & relative_paths)
 {
@@ -364,7 +366,7 @@ main (int argc, char ** argv)
 
   //configure normal estimator
   boost::shared_ptr<pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal> > normal_estimator;
-  normal_estimator.reset (new pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal>);
+  normal_estimator = pcl::make_shared<pcl::rec_3d_framework::PreProcessorAndNormalEstimator<pcl::PointXYZ, pcl::Normal>> ();
   normal_estimator->setCMR (false);
   normal_estimator->setDoVoxelGrid (true);
   normal_estimator->setRemoveOutliers (true);
@@ -434,7 +436,7 @@ main (int argc, char ** argv)
   if (desc_name == "shot")
   {
     boost::shared_ptr<pcl::rec_3d_framework::SHOTLocalEstimation<pcl::PointXYZ, pcl::Histogram<352> > > estimator;
-    estimator.reset (new pcl::rec_3d_framework::SHOTLocalEstimation<pcl::PointXYZ, pcl::Histogram<352> >);
+    estimator = pcl::make_shared<pcl::rec_3d_framework::SHOTLocalEstimation<pcl::PointXYZ, pcl::Histogram<352> >> ();
     estimator->setNormalEstimator (normal_estimator);
     estimator->addKeypointExtractor (keypoint_extractor);
     estimator->setSupportRadius (0.04f);
@@ -465,7 +467,7 @@ main (int argc, char ** argv)
   {
     desc_name = std::string ("shot");
     boost::shared_ptr<pcl::rec_3d_framework::SHOTLocalEstimationOMP<pcl::PointXYZ, pcl::Histogram<352> > > estimator;
-    estimator.reset (new pcl::rec_3d_framework::SHOTLocalEstimationOMP<pcl::PointXYZ, pcl::Histogram<352> >);
+    estimator = pcl::make_shared<pcl::rec_3d_framework::SHOTLocalEstimationOMP<pcl::PointXYZ, pcl::Histogram<352> >> ();
     estimator->setNormalEstimator (normal_estimator);
     estimator->addKeypointExtractor (keypoint_extractor);
     //estimator->setSupportRadius (0.04f);
@@ -498,7 +500,7 @@ main (int argc, char ** argv)
   if (desc_name == "fpfh")
   {
     boost::shared_ptr<pcl::rec_3d_framework::FPFHLocalEstimation<pcl::PointXYZ, pcl::FPFHSignature33> > estimator;
-    estimator.reset (new pcl::rec_3d_framework::FPFHLocalEstimation<pcl::PointXYZ, pcl::FPFHSignature33>);
+    estimator = pcl::make_shared<pcl::rec_3d_framework::FPFHLocalEstimation<pcl::PointXYZ, pcl::FPFHSignature33>> ();
     estimator->setNormalEstimator (normal_estimator);
     estimator->addKeypointExtractor (keypoint_extractor);
     estimator->setSupportRadius (0.04f);

apps/cloud_composer/src/cloud_view.cpp

@@ -7,12 +7,14 @@
 
 #include <QDebug>
 
+#include <pcl/make_shared.h>
+
 #include <QVTKWidget.h>
 
 pcl::cloud_composer::CloudView::CloudView (QWidget* parent)
   : QWidget (parent)
 {
-  vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
+  vis_ = pcl::make_shared<pcl::visualization::PCLVisualizer> ("", false);
   vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
   //Create the QVTKWidget
   qvtk_ = new QVTKWidget (this);
@@ -28,7 +30,7 @@ pcl::cloud_composer::CloudView::CloudView (ProjectModel* model, QWidget* parent)
   : QWidget (parent)
 {
   model_ = model;
-  vis_.reset (new pcl::visualization::PCLVisualizer ("", false));
+  vis_ = pcl::make_shared<pcl::visualization::PCLVisualizer> ("", false);
  // vis_->getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
   //Create the QVTKWidget
   qvtk_ = new QVTKWidget (this);

apps/cloud_composer/src/items/cloud_item.cpp

@@ -7,6 +7,8 @@
 
 #include <QMessageBox>
 
+#include <pcl/make_shared.h>
+
 pcl::cloud_composer::CloudItem::CloudItem (QString name,
                                            pcl::PCLPointCloud2::Ptr cloud_ptr,
                                            const Eigen::Vector4f& origin, 
@@ -31,9 +33,9 @@ pcl::cloud_composer::CloudItem::CloudItem (QString name,
   this->setData (QVariant::fromValue (orientation_), ItemDataRole::ORIENTATION);
 
   //Create a color and geometry handler for this cloud
-  color_handler_.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud_ptr));
+  color_handler_ = pcl::make_shared<pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2>> (cloud_ptr);
   this->setData (QVariant::fromValue (color_handler_), ItemDataRole::COLOR_HANDLER);
-  geometry_handler_.reset (new pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> (cloud_ptr));
+  geometry_handler_ = pcl::make_shared<pcl::visualization::PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2>> (cloud_ptr);
   this->setData (QVariant::fromValue (geometry_handler_), ItemDataRole::GEOMETRY_HANDLER);
 
   properties_->addCategory ("Core Properties");

apps/cloud_composer/src/items/fpfh_item.cpp

@@ -3,6 +3,8 @@
 
 #include <QGridLayout>
 
+#include <pcl/make_shared.h>
+
 #include <QVTKWidget.h>
 
 pcl::cloud_composer::FPFHItem::FPFHItem (QString name, pcl::PointCloud<pcl::FPFHSignature33>::Ptr fpfh_ptr, double radius)
@@ -39,7 +41,7 @@ pcl::cloud_composer::FPFHItem::getInspectorTabs ()
   //Create the plotter and QVTKWidget if it doesn't exist
   if (!plot_)
   {
-    plot_.reset (new pcl::visualization::PCLPlotter);
+    plot_ = pcl::make_shared<pcl::visualization::PCLPlotter> ();
     qvtk_ = new QVTKWidget ();
     hist_page_ = new QWidget ();
     QGridLayout *mainLayout = new QGridLayout (hist_page_);

apps/in_hand_scanner/src/in_hand_scanner.cpp

@@ -46,6 +46,8 @@
 #include <QPainter>
 #include <QtConcurrent>
 
+#include <pcl/make_shared.h>
+
 #include <pcl/exceptions.h>
 #include <pcl/common/time.h>
 #include <pcl/common/transforms.h>
@@ -292,7 +294,7 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
   CloudXYZRGBNormalPtr cloud_discarded;
   if (running_mode_ == RM_SHOW_MODEL)
   {
-    cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+    cloud_data = pcl::make_shared<CloudXYZRGBNormal>();
   }
   else if (running_mode_ == RM_UNPROCESSED)
   {
@@ -325,7 +327,7 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
                 << "  - time reconstruct mesh          : "
                 << std::setw (8) << std::right << sw.getTime () << " ms\n";
 
-      cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+      cloud_data = pcl::make_shared<CloudXYZRGBNormal>();
       ++iteration_;
     }
     else
@@ -357,7 +359,7 @@ pcl::ihs::InHandScanner::newDataCallback (const CloudXYZRGBAConstPtr& cloud_in)
         std::cerr << "  - time mesh processing           : "
                   << std::setw (8) << std::right << sw.getTime () << " ms\n";
 
-        cloud_data = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+        cloud_data = pcl::make_shared<CloudXYZRGBNormal>();
         ++iteration_;
       }
     }
@@ -470,7 +472,7 @@ pcl::ihs::InHandScanner::startGrabberImpl ()
 
   try
   {
-    grabber_ = GrabberPtr (new Grabber ());
+    grabber_ = pcl::make_shared<Grabber>();
   }
   catch (const pcl::PCLException& e)
   {

apps/in_hand_scanner/src/input_data_processing.cpp

@@ -44,6 +44,8 @@
 #include <pcl/features/integral_image_normal.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
 
+#include <pcl/make_shared.h>
+
 ////////////////////////////////////////////////////////////////////////////////
 
 pcl::ihs::InputDataProcessing::InputDataProcessing ()
@@ -93,8 +95,8 @@ pcl::ihs::InputDataProcessing::segment (const CloudXYZRGBAConstPtr& cloud_in,
     return (false);
   }
 
-  if (!cloud_out)       cloud_out       = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
-  if (!cloud_discarded) cloud_discarded = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+  if (!cloud_out)       cloud_out       = pcl::make_shared<CloudXYZRGBNormal>();
+  if (!cloud_discarded) cloud_discarded = pcl::make_shared<CloudXYZRGBNormal>();
 
   const unsigned int width  = cloud_in->width;
   const unsigned int height = cloud_in->height;
@@ -221,7 +223,7 @@ pcl::ihs::InputDataProcessing::calculateNormals (const CloudXYZRGBAConstPtr& clo
   }
 
   if (!cloud_out)
-    cloud_out = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+    cloud_out = pcl::make_shared<CloudXYZRGBNormal>();
 
   // Calculate the normals
   CloudNormalsPtr cloud_normals (new CloudNormals ());

apps/in_hand_scanner/src/integration.cpp

@@ -44,6 +44,8 @@
 #include <vector>
 #include <limits>
 
+#include <pcl/make_shared.h>
+
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/apps/in_hand_scanner/boost.h>
 #include <pcl/apps/in_hand_scanner/visibility_confidence.h>
@@ -80,7 +82,7 @@ pcl::ihs::Integration::reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_d
   const int width  = static_cast <int> (cloud_data->width);
   const int height = static_cast <int> (cloud_data->height);
 
-  if (!mesh_model) mesh_model = MeshPtr (new Mesh ());
+  if (!mesh_model) mesh_model = pcl::make_shared<Mesh>();
 
   mesh_model->clear ();
   mesh_model->reserveVertices (cloud_data->size ());

apps/in_hand_scanner/src/offline_integration.cpp

@@ -52,6 +52,8 @@
 #include <QKeyEvent>
 #include <QtConcurrent>
 
+#include <pcl/make_shared.h>
+
 #include <pcl/io/pcd_io.h>
 #include <pcl/common/transforms.h>
 #include <pcl/features/integral_image_normal.h>
@@ -256,7 +258,7 @@ pcl::ihs::OfflineIntegration::load (const std::string&    filename,
 {
   if (!cloud)
   {
-    cloud = CloudXYZRGBNormalPtr (new CloudXYZRGBNormal ());
+    cloud = pcl::make_shared<CloudXYZRGBNormal>();
   }
 
   // Load the cloud.