Transition to standard smart pointers, part 11

sample_consensus/include/pcl/sample_consensus/impl/mlesac.hpp

@@ -206,7 +206,7 @@ pcl::MaximumLikelihoodSampleConsensus<PointT>::computeModel (int debug_verbosity
 template <typename PointT> double
 pcl::MaximumLikelihoodSampleConsensus<PointT>::computeMedianAbsoluteDeviation (
     const PointCloudConstPtr &cloud, 
-    const boost::shared_ptr <std::vector<int> > &indices, 
+    const IndicesPtr &indices,
     double sigma) const
 {
   std::vector<double> distances (indices->size ());
@@ -239,7 +239,7 @@ pcl::MaximumLikelihoodSampleConsensus<PointT>::computeMedianAbsoluteDeviation (
 template <typename PointT> void
 pcl::MaximumLikelihoodSampleConsensus<PointT>::getMinMax (
     const PointCloudConstPtr &cloud, 
-    const boost::shared_ptr <std::vector<int> > &indices, 
+    const IndicesPtr &indices,
     Eigen::Vector4f &min_p, 
     Eigen::Vector4f &max_p) const
 {
@@ -263,7 +263,7 @@ pcl::MaximumLikelihoodSampleConsensus<PointT>::getMinMax (
 template <typename PointT> void
 pcl::MaximumLikelihoodSampleConsensus<PointT>::computeMedian (
     const PointCloudConstPtr &cloud, 
-    const boost::shared_ptr <std::vector<int> > &indices, 
+    const IndicesPtr &indices,
     Eigen::Vector4f &median) const
 {
   // Copy the values to vectors for faster sorting

sample_consensus/include/pcl/sample_consensus/mlesac.h

@@ -62,6 +62,7 @@ namespace pcl
       using Ptr = boost::shared_ptr<MaximumLikelihoodSampleConsensus<PointT> >;
       using ConstPtr = boost::shared_ptr<const MaximumLikelihoodSampleConsensus<PointT> >;
 
+      using typename SampleConsensus<PointT>::IndicesPtr;
       using SampleConsensus<PointT>::max_iterations_;
       using SampleConsensus<PointT>::threshold_;
       using SampleConsensus<PointT>::iterations_;
@@ -123,7 +124,7 @@ namespace pcl
         */
       double 
       computeMedianAbsoluteDeviation (const PointCloudConstPtr &cloud, 
-                                      const boost::shared_ptr <std::vector<int> > &indices, 
+                                      const IndicesPtr &indices,
                                       double sigma) const;
 
       /** \brief Determine the minimum and maximum 3D bounding box coordinates for a given set of points
@@ -134,7 +135,7 @@ namespace pcl
         */
       void 
       getMinMax (const PointCloudConstPtr &cloud, 
-                 const boost::shared_ptr <std::vector<int> > &indices, 
+                 const IndicesPtr &indices,
                  Eigen::Vector4f &min_p, 
                  Eigen::Vector4f &max_p) const;
 
@@ -145,7 +146,7 @@ namespace pcl
         */
       void 
       computeMedian (const PointCloudConstPtr &cloud, 
-                     const boost::shared_ptr <std::vector<int> > &indices, 
+                     const IndicesPtr &indices,
                      Eigen::Vector4f &median) const;
 
     private:

sample_consensus/include/pcl/sample_consensus/sac.h

@@ -66,6 +66,8 @@ namespace pcl
       using Ptr = boost::shared_ptr<SampleConsensus<T> >;
       using ConstPtr = boost::shared_ptr<const SampleConsensus<T> >;
 
+      using IndicesPtr = boost::shared_ptr<std::vector<int>>;
+
       /** \brief Constructor for base SAC.
         * \param[in] model a Sample Consensus model
         * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
@@ -270,7 +272,7 @@ namespace pcl
         * \param[out] indices_subset the resultant output set of randomly selected indices
         */
       inline void
-      getRandomSamples (const boost::shared_ptr <std::vector<int> > &indices, 
+      getRandomSamples (const IndicesPtr &indices,
                         std::size_t nr_samples, 
                         std::set<int> &indices_subset)
       {

sample_consensus/include/pcl/sample_consensus/sac_model.h

@@ -75,6 +75,8 @@ namespace pcl
       using Ptr = boost::shared_ptr<SampleConsensusModel<PointT> >;
       using ConstPtr = boost::shared_ptr<const SampleConsensusModel<PointT> >;
 
+      using IndicesPtr = boost::shared_ptr<std::vector<int>>;
+
     protected:
       /** \brief Empty constructor for base SampleConsensusModel.
         * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
@@ -311,7 +313,7 @@ namespace pcl
         * \param[in] indices a pointer to the vector of indices that represents the input data.
         */
       inline void 
-      setIndices (const boost::shared_ptr <std::vector<int> > &indices) 
+      setIndices (const IndicesPtr &indices)
       { 
         indices_ = indices; 
         shuffled_indices_ = *indices_;
@@ -328,7 +330,7 @@ namespace pcl
        }
 
       /** \brief Get a pointer to the vector of indices used. */
-      inline boost::shared_ptr <std::vector<int> > 
+      inline IndicesPtr
       getIndices () const { return (indices_); }
 
       /** \brief Return a unique id for each type of model employed. */
@@ -524,7 +526,7 @@ namespace pcl
       PointCloudConstPtr input_;
 
       /** \brief A pointer to the vector of point indices to use. */
-      boost::shared_ptr <std::vector<int> > indices_;
+      IndicesPtr indices_;
 
       /** The maximum number of samples to try until we get a good one */
       static const unsigned int max_sample_checks_ = 1000;

sample_consensus/include/pcl/sample_consensus/sac_model_circle.h

@@ -71,6 +71,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelCircle2D<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelCircle2D<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelCircle2D.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_cone.h

@@ -78,6 +78,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelCone<PointT, PointNT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelCone<PointT, PointNT>>;
 
       /** \brief Constructor for base SampleConsensusModelCone.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_cylinder.h

@@ -78,6 +78,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelCylinder<PointT, PointNT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelCylinder<PointT, PointNT>>;
 
       /** \brief Constructor for base SampleConsensusModelCylinder.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_line.h

@@ -73,6 +73,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelLine<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelLine<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelLine.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_normal_parallel_plane.h

@@ -100,6 +100,7 @@ namespace pcl
       using PointCloudNConstPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelNormalParallelPlane<PointT, PointNT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelNormalParallelPlane<PointT, PointNT>>;
 
       /** \brief Constructor for base SampleConsensusModelNormalParallelPlane.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_normal_plane.h

@@ -92,6 +92,7 @@ namespace pcl
       using PointCloudNConstPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelNormalPlane<PointT, PointNT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelNormalPlane<PointT, PointNT>>;
 
       /** \brief Constructor for base SampleConsensusModelNormalPlane.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_normal_sphere.h

@@ -86,6 +86,7 @@ namespace pcl
       using PointCloudNConstPtr = typename SampleConsensusModelFromNormals<PointT, PointNT>::PointCloudNConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelNormalSphere<PointT, PointNT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelNormalSphere<PointT, PointNT>>;
 
       /** \brief Constructor for base SampleConsensusModelNormalSphere.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_parallel_line.h

@@ -72,6 +72,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModelLine<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelParallelLine<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelParallelLine<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelParallelLine.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_parallel_plane.h

@@ -73,6 +73,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelParallelPlane<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelParallelPlane<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelParallelPlane.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_perpendicular_plane.h

@@ -78,6 +78,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModelPlane<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelPerpendicularPlane<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelPerpendicularPlane<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelPerpendicularPlane.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_plane.h

@@ -146,6 +146,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelPlane<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelPlane<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelPlane.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_registration.h

@@ -69,6 +69,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelRegistration<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelRegistration<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelRegistration.
         * \param[in] cloud the input point cloud dataset
@@ -217,6 +218,7 @@ namespace pcl
     protected:
       using SampleConsensusModel<PointT>::sample_size_;
       using SampleConsensusModel<PointT>::model_size_;
+      using typename SampleConsensusModel<PointT>::IndicesPtr;
 
       /** \brief Check if a sample of indices results in a good sample of points
         * indices.
@@ -314,7 +316,7 @@ namespace pcl
       PointCloudConstPtr target_;
 
       /** \brief A pointer to the vector of target point indices to use. */
-      boost::shared_ptr <std::vector<int> > indices_tgt_;
+      IndicesPtr indices_tgt_;
 
       /** \brief Given the index in the original point cloud, give the matching original index in the target cloud */
       std::map<int, int> correspondences_;

sample_consensus/include/pcl/sample_consensus/sac_model_sphere.h

@@ -71,6 +71,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelSphere<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelSphere<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelSphere.
         * \param[in] cloud the input point cloud dataset

sample_consensus/include/pcl/sample_consensus/sac_model_stick.h

@@ -77,6 +77,7 @@ namespace pcl
       using PointCloudConstPtr = typename SampleConsensusModel<PointT>::PointCloudConstPtr;
 
       using Ptr = boost::shared_ptr<SampleConsensusModelStick<PointT> >;
+      using ConstPtr = boost::shared_ptr<const SampleConsensusModelStick<PointT>>;
 
       /** \brief Constructor for base SampleConsensusModelStick.
         * \param[in] cloud the input point cloud dataset