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Fix memory leaks in OpenNI apps #3553

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merged 1 commit into from
Jan 16, 2020
Merged

Fix memory leaks in OpenNI apps #3553

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8 changes: 4 additions & 4 deletions apps/src/openni_3d_concave_hull.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,21 +138,21 @@ class OpenNI3DConcaveHull
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.runOnVisualizationThread ([this] (pcl::visualization::PCLVisualizer& viz) { viz_cb (viz); }, "viz_cb");

interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
std::this_thread::sleep_for(1ms);
}

interface->stop ();
interface.stop ();
}

pcl::VoxelGrid<PointType> grid;
Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_3d_convex_hull.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,21 +136,21 @@ class OpenNI3DConvexHull
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.runOnVisualizationThread ([this] (pcl::visualization::PCLVisualizer& viz) { viz_cb (viz); }, "viz_cb");

interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
std::this_thread::sleep_for(1ms);
}

interface->stop ();
interface.stop ();
}

pcl::PassThrough<PointType> pass;
Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_boundary_estimation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,21 +157,21 @@ class OpenNIIntegralImageNormalEstimation
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr &)> f = [this] (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.runOnVisualizationThread ([this] (pcl::visualization::PCLVisualizer& viz) { viz_cb (viz); }, "viz_cb");

interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

pcl::ApproximateVoxelGrid<pcl::PointXYZRGBNormal> pass_;
Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_change_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,21 +121,21 @@ class OpenNIChangeViewer
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber();
pcl::OpenNIGrabber interface {};

std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
[this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud) { cloud_cb_ (cloud); };

boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

interface->start ();
interface.start ();

while (!viewer.wasStopped())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZRGBA> *octree;
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8 changes: 4 additions & 4 deletions apps/src/openni_fast_mesh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,14 +104,14 @@ class OpenNIFastMesh
void
run (int argc, char **argv)
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

view.reset (new pcl::visualization::PCLVisualizer (argc, argv, "PCL OpenNI Mesh Viewer"));

interface->start ();
interface.start ();

CloudConstPtr temp_cloud;
std::vector<pcl::Vertices> temp_verts;
Expand All @@ -138,7 +138,7 @@ class OpenNIFastMesh
view->spinOnce (1);
}

interface->stop ();
interface.stop ();
}

pcl::OrganizedFastMesh<PointType> ofm;
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8 changes: 4 additions & 4 deletions apps/src/openni_feature_persistence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -188,21 +188,21 @@ class OpenNIFeaturePersistence
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.runOnVisualizationThread ([this] (pcl::visualization::PCLVisualizer& viz) { viz_cb (viz); }, "viz_cb");

interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}


Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_ii_normal_estimation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -161,21 +161,21 @@ class OpenNIIntegralImageNormalEstimation
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.runOnVisualizationThread ([this] (pcl::visualization::PCLVisualizer& viz) { viz_cb (viz); }, "viz_cb");

interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

pcl::IntegralImageNormalEstimation<PointType, pcl::Normal> ne_;
Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_mls_smoothing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,15 +132,15 @@ class OpenNISmoothing
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber (device_id_);
pcl::OpenNIGrabber interface {device_id_};

std::function<void (const CloudConstPtr&)> f = [this] (const CloudConstPtr& cloud) { cloud_cb_ (cloud); };
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

viewer.registerKeyboardCallback (keyboardEventOccurred, reinterpret_cast<void*> (&stop_computing_));


interface->start ();
interface.start ();

while (!viewer.wasStopped ())
{
Expand All @@ -157,7 +157,7 @@ class OpenNISmoothing
}
}

interface->stop ();
interface.stop ();
}

pcl::MovingLeastSquares<PointType, PointType> smoother_;
Expand Down
16 changes: 8 additions & 8 deletions apps/src/openni_octree_compression.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,25 +152,25 @@ class SimpleOpenNIViewer
{

// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::OpenNIGrabber();
pcl::OpenNIGrabber interface {};

// make callback function from member function
std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
[this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };

// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

// start receiving point clouds
interface->start ();
interface.start ();


while (!outputFile_.fail())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

pcl::visualization::CloudViewer viewer;
Expand Down Expand Up @@ -207,7 +207,7 @@ struct EventHelper
run ()
{
// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::OpenNIGrabber ();
pcl::OpenNIGrabber interface {};

// make callback function from member function
std::function<void
Expand All @@ -217,17 +217,17 @@ struct EventHelper
};

// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

// start receiving point clouds
interface->start ();
interface.start ();

while (!outputFile_.fail ())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

pcl::PassThrough<PointXYZRGBA> pass_;
Expand Down
16 changes: 8 additions & 8 deletions apps/src/openni_organized_compression.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,25 +152,25 @@ class SimpleOpenNIViewer
if (!bRawImageEncoding_)
{
// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::OpenNIGrabber();
pcl::OpenNIGrabber interface {};

// make callback function from member function
std::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
[this] (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr& cloud) { cloud_cb_ (cloud); };

// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

// start receiving point clouds
interface->start ();
interface.start ();


while (!outputFile_.fail())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
}

}
Expand Down Expand Up @@ -243,7 +243,7 @@ struct EventHelper
if (!bRawImageEncoding_)
{
// create a new grabber for OpenNI devices
pcl::Grabber* interface = new pcl::OpenNIGrabber ();
pcl::OpenNIGrabber interface {};

// make callback function from member function
std::function<void
Expand All @@ -253,17 +253,17 @@ struct EventHelper
};

// connect callback function for desired signal. In this case its a point cloud with color values
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

// start receiving point clouds
interface->start ();
interface.start ();

while (!outputFile_.fail ())
{
std::this_thread::sleep_for(1s);
}

interface->stop ();
interface.stop ();
} else
{
pcl::OpenNIGrabber::Mode image_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_organized_edge_detection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -143,16 +143,16 @@ class OpenNIOrganizedEdgeDetection
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber ();
pcl::OpenNIGrabber interface {};

std::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = [this] (const pcl::PointCloud<PointT>::ConstPtr& cloud) { cloud_cb_ (cloud); };

// Make and initialize a cloud viewer
pcl::PointCloud<PointT>::Ptr init_cloud_ptr (new pcl::PointCloud<PointT>);
viewer = initCloudViewer (init_cloud_ptr);
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

interface->start ();
interface.start ();

pcl::IntegralImageNormalEstimation<PointT, pcl::Normal> ne;
ne.setNormalEstimationMethod (ne.COVARIANCE_MATRIX);
Expand Down Expand Up @@ -245,7 +245,7 @@ class OpenNIOrganizedEdgeDetection
}
}

interface->stop ();
interface.stop ();
}
};

Expand Down
8 changes: 4 additions & 4 deletions apps/src/openni_organized_multi_plane_segmentation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,16 +109,16 @@ class OpenNIOrganizedMultiPlaneSegmentation
void
run ()
{
pcl::Grabber* interface = new pcl::OpenNIGrabber ();
pcl::OpenNIGrabber interface {};

std::function<void(const pcl::PointCloud<PointT>::ConstPtr&)> f = [this] (const pcl::PointCloud<PointT>::ConstPtr& cloud) { cloud_cb_ (cloud); };

//make a viewer
pcl::PointCloud<PointT>::Ptr init_cloud_ptr (new pcl::PointCloud<PointT>);
viewer = cloudViewer (init_cloud_ptr);
boost::signals2::connection c = interface->registerCallback (f);
boost::signals2::connection c = interface.registerCallback (f);

interface->start ();
interface.start ();

unsigned char red [6] = {255, 0, 0, 255, 255, 0};
unsigned char grn [6] = { 0, 255, 0, 255, 0, 255};
Expand Down Expand Up @@ -190,7 +190,7 @@ class OpenNIOrganizedMultiPlaneSegmentation
}
}

interface->stop ();
interface.stop ();
}
};

Expand Down
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