Skip to content

Commit

Permalink
JSK stuff
Browse files Browse the repository at this point in the history
  • Loading branch information
@Tobias-Fischer
Tobias-Fischer committed Apr 28, 2021
1 parent b64388f commit d7afc76
Show file tree
Hide file tree
Showing 6 changed files with 487 additions and 2 deletions.
16 changes: 16 additions & 0 deletions patch/dependencies.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,3 +28,19 @@ posedetection_msgs:
add: ["REQUIRE_OPENGL"]
sainsmart_relay_usb:
add: [pkg-config]
libcmt:
add: ["REQUIRE_OPENGL"]
checkerboard_detector:
add: ["REQUIRE_OPENGL"]
imagesift:
add: ["REQUIRE_OPENGL"]
jsk_rviz_plugins:
add: ["REQUIRE_OPENGL"]
jsk_perception:
add: ["REQUIRE_OPENGL"]
jsk_interactive_marker:
add: ["REQUIRE_OPENGL"]
jsk_pcl_ros_utils:
add: ["REQUIRE_OPENGL"]
jsk_pcl_ros:
add: ["REQUIRE_OPENGL"]
44 changes: 44 additions & 0 deletions patch/ros-noetic-jsk-pcl-ros-utils.patch
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,44 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6fd6146d1..e38dd3a69 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,6 +60,8 @@ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}

# For kinfu
find_package(PCL QUIET COMPONENTS gpu_kinfu_large_scale)
+find_package(VTK REQUIRED)
+get_target_property(VTK_INCLUDE_DIRS VTK::CommonCore INTERFACE_INCLUDE_DIRECTORIES)

pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0")
@@ -99,7 +101,7 @@ generate_dynamic_reconfigure_options(

find_package(OpenCV REQUIRED core imgproc)

-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${VTK_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS})
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs")
@@ -220,7 +222,7 @@ jsk_pcl_util_nodelet(src/marker_array_voxel_to_pointcloud_nodelet.cpp
add_library(jsk_pcl_ros_utils SHARED ${jsk_pcl_util_nodelet_sources})
add_dependencies(jsk_pcl_ros_utils ${PROJECT_NAME}_gencfg)
target_link_libraries(jsk_pcl_ros_utils
- ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp)
+ ${catkin_LIBRARIES} ${pcl_ros_LIBRARIES} ${OpenCV_LIBRARIES} yaml-cpp VTK::CommonCore)

get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)

diff --git a/src/pointcloud_to_pcd_nodelet.cpp b/src/pointcloud_to_pcd_nodelet.cpp
index 3113a387a..8f2f01420 100644
--- a/src/pointcloud_to_pcd_nodelet.cpp
+++ b/src/pointcloud_to_pcd_nodelet.cpp
@@ -51,7 +51,7 @@ namespace jsk_pcl_ros_utils

void PointCloudToPCD::timerCallback (const ros::TimerEvent& event)
{
- pcl::PCLPointCloud2::ConstPtr cloud;
+ boost::shared_ptr<const pcl::PCLPointCloud2> cloud;
cloud = ros::topic::waitForMessage<pcl::PCLPointCloud2>("input", *pnh_);
if ((cloud->width * cloud->height) == 0)
{
320 changes: 320 additions & 0 deletions patch/ros-noetic-jsk-pcl-ros.patch
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,320 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d602f5a8..d84c01da9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,14 +56,16 @@ find_package(moveit_ros_perception)
find_package(PkgConfig)
pkg_check_modules(ml_classifiers ml_classifiers QUIET)
# only run in hydro
-find_package(PCL REQUIRED)
+find_package(PCL COMPONENTS common search tracking filters pcl_io kdtree REQUIRED)
+find_package(VTK REQUIRED)
+get_target_property(VTK_INCLUDE_DIRS VTK::CommonCore INTERFACE_INCLUDE_DIRECTORIES)
find_package(OpenMP)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")

# For kinfu
-find_package(PCL QUIET COMPONENTS gpu_kinfu_large_scale)
+# find_package(PCL QUIET COMPONENTS gpu_kinfu_large_scale)

pkg_check_modules(yaml_cpp yaml-cpp REQUIRED)
if(${yaml_cpp_VERSION} VERSION_LESS "0.5.0")
@@ -139,7 +141,7 @@ generate_dynamic_reconfigure_options(

find_package(OpenCV REQUIRED core imgproc)

-include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${VTK_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -z defs")
@@ -179,8 +181,8 @@ jsk_pcl_nodelet(src/moving_least_square_smoothing_nodelet.cpp "jsk_pcl/MovingLea
jsk_pcl_nodelet(src/fisheye_sphere_publisher_nodelet.cpp "jsk_pcl/FisheyeSpherePublisher" "fisheye_sphere_publisher")
jsk_pcl_nodelet(src/plane_supported_cuboid_estimator_nodelet.cpp
"jsk_pcl/PlaneSupportedCuboidEstimator" "plane_supported_cuboid_estimator")
-jsk_pcl_nodelet(src/extract_cuboid_particles_top_n_nodelet.cpp
- "jsk_pcl/ExtractCuboidParticlesTopN" "extract_cuboid_particles_top_n")
+# jsk_pcl_nodelet(src/extract_cuboid_particles_top_n_nodelet.cpp
+# "jsk_pcl/ExtractCuboidParticlesTopN" "extract_cuboid_particles_top_n")
jsk_pcl_nodelet(src/interactive_cuboid_likelihood_nodelet.cpp
"jsk_pcl/InteractiveCuboidLikelihood" "interactive_cuboid_likelihood")
jsk_pcl_nodelet(src/image_rotate_nodelet.cpp
@@ -385,7 +387,7 @@ if (PCL_GPU_KINFU_LARGE_SCALE_FOUND AND jsk_rviz_plugins_FOUND)
jsk_pcl_nodelet(src/kinfu_nodelet.cpp
"jsk_pcl/Kinfu" "kinfu")
include_directories(/usr/local/cuda/include)
-endif (PCL_GPU_KINFU_LARGE_SCALE_FOUND)
+endif (PCL_GPU_KINFU_LARGE_SCALE_FOUND AND jsk_rviz_plugins_FOUND)
jsk_pcl_nodelet_upstream(jsk_pcl_ros_utils "jsk_pcl/PCDReaderWithPose" "pcd_reader_with_pose")
jsk_pcl_nodelet(src/target_adaptive_tracking_nodelet.cpp
"jsk_pcl/TargetAdaptiveTracking" "target_adaptive_tracking")
@@ -544,7 +546,7 @@ if (CATKIN_ENABLE_TESTING)
add_rostest(test/test_edgebased_cube_finder.test)
add_rostest(test/test_environment_plane_modeling.test)
add_rostest(test/test_euclidean_segmentation.test)
- add_rostest(test/test_extract_cuboid_particles_top_n.test)
+ # add_rostest(test/test_extract_cuboid_particles_top_n.test)
add_rostest(test/test_extract_top_polygon_likelihood.test)
add_rostest(test/test_feature_registration.test)
add_rostest(test/test_find_object_on_plane.test)
diff --git a/include/jsk_pcl_ros/extract_cuboid_particles_top_n.h b/include/jsk_pcl_ros/extract_cuboid_particles_top_n.h
index 893a3ab77..9e614ac84 100644
--- a/include/jsk_pcl_ros/extract_cuboid_particles_top_n.h
+++ b/include/jsk_pcl_ros/extract_cuboid_particles_top_n.h
@@ -39,6 +39,7 @@

#include <jsk_topic_tools/diagnostic_nodelet.h>
#include "jsk_pcl_ros/plane_supported_cuboid_estimator.h"
+#include "jsk_pcl_ros/pcl/particle_cuboid.h"
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/ExtractParticlesTopNBaseConfig.h>
#include <pcl/pcl_base.h>
diff --git a/include/jsk_pcl_ros/particle_filter_tracking.h b/include/jsk_pcl_ros/particle_filter_tracking.h
index a1cc28a44..d108f5993 100644
--- a/include/jsk_pcl_ros/particle_filter_tracking.h
+++ b/include/jsk_pcl_ros/particle_filter_tracking.h
@@ -186,7 +186,7 @@ namespace pcl
// }

if (!change_detector_)
- change_detector_ = boost::shared_ptr<pcl::octree::OctreePointCloudChangeDetector<PointInT> >(new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));
+ change_detector_ = std::shared_ptr<pcl::octree::OctreePointCloudChangeDetector<PointInT> >(new pcl::octree::OctreePointCloudChangeDetector<PointInT> (change_detector_resolution_));

if (!particles_ || particles_->points.empty ())
initParticles (true);
diff --git a/src/edgebased_cube_finder_nodelet.cpp b/src/edgebased_cube_finder_nodelet.cpp
index 4559eb28d..87389df42 100644
--- a/src/edgebased_cube_finder_nodelet.cpp
+++ b/src/edgebased_cube_finder_nodelet.cpp
@@ -740,7 +740,9 @@ namespace jsk_pcl_ros
*points_on_edges = *points_on_edges + *points_on_edge;
cubes.push_back(cube);
}
- pub_debug_filtered_cloud_.publish(points_on_edges);
+ sensor_msgs::PointCloud2 out_cloud;
+ pcl::toROSMsg(*points_on_edges, out_cloud);
+ pub_debug_filtered_cloud_.publish(out_cloud);
}
}

diff --git a/src/euclidean_cluster_extraction_nodelet.cpp b/src/euclidean_cluster_extraction_nodelet.cpp
index a531e9d4f..3064fb9f6 100644
--- a/src/euclidean_cluster_extraction_nodelet.cpp
+++ b/src/euclidean_cluster_extraction_nodelet.cpp
@@ -140,10 +140,10 @@ namespace jsk_pcl_ros
jsk_topic_tools::ScopedTimer timer = kdtree_acc_.scopedTimer();
#if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 5 )
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
- tree = boost::make_shared< pcl::search::KdTree<pcl::PointXYZ> > ();
+ tree = std::make_shared< pcl::search::KdTree<pcl::PointXYZ> > ();
#else
pcl::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::KdTreeFLANN<pcl::PointXYZ>);
- tree = boost::make_shared<pcl::KdTreeFLANN<pcl::PointXYZ> > ();
+ tree = std::make_shared<pcl::KdTreeFLANN<pcl::PointXYZ> > ();
#endif
tree->setInputCloud(filtered_cloud);
impl.setClusterTolerance(tolerance);
@@ -330,10 +330,10 @@ namespace jsk_pcl_ros

#if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 5 )
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
- tree = boost::make_shared< pcl::search::KdTree<pcl::PointXYZ> > ();
+ tree = std::make_shared< pcl::search::KdTree<pcl::PointXYZ> > ();
#else
pcl::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::KdTreeFLANN<pcl::PointXYZ>);
- tree = boost::make_shared<pcl::KdTreeFLANN<pcl::PointXYZ> > ();
+ tree = std::make_shared<pcl::KdTreeFLANN<pcl::PointXYZ> > ();
#endif

vector<pcl::PointIndices> cluster_indices;
@@ -362,7 +362,7 @@ namespace jsk_pcl_ros
ex.setInputCloud ( boost::make_shared< sensor_msgs::PointCloud2 > (req.input) );
#endif
for ( size_t i = 0; i < cluster_indices.size(); i++ ) {
- ex.setIndices ( boost::make_shared< pcl::PointIndices > (cluster_indices[i]) );
+ ex.setIndices ( std::make_shared< pcl::PointIndices > (cluster_indices[i]) );
ex.setNegative ( false );
#if ( PCL_MAJOR_VERSION >= 1 && PCL_MINOR_VERSION >= 7 )
pcl::PCLPointCloud2 output_cloud;
diff --git a/src/icp_registration_nodelet.cpp b/src/icp_registration_nodelet.cpp
index a7357e4c7..f0b5a80dc 100644
--- a/src/icp_registration_nodelet.cpp
+++ b/src/icp_registration_nodelet.cpp
@@ -612,9 +612,9 @@ namespace jsk_pcl_ros
icp.setInputTarget(cloud);

if (transform_3dof_) {
- boost::shared_ptr<pcl::registration::WarpPointRigid3D<PointT, PointT> > warp_func
+ std::shared_ptr<pcl::registration::WarpPointRigid3D<PointT, PointT> > warp_func
(new pcl::registration::WarpPointRigid3D<PointT, PointT>);
- boost::shared_ptr<pcl::registration::TransformationEstimationLM<PointT, PointT> > te
+ std::shared_ptr<pcl::registration::TransformationEstimationLM<PointT, PointT> > te
(new pcl::registration::TransformationEstimationLM<PointT, PointT>);
te->setWarpFunction(warp_func);
icp.setTransformationEstimation(te);
diff --git a/src/moving_least_square_smoothing_nodelet.cpp b/src/moving_least_square_smoothing_nodelet.cpp
index 2cd3a5240..abc70c264 100644
--- a/src/moving_least_square_smoothing_nodelet.cpp
+++ b/src/moving_least_square_smoothing_nodelet.cpp
@@ -33,6 +33,7 @@
*********************************************************************/

#define BOOST_PARAMETER_MAX_ARITY 7
+#include <pcl/search/kdtree.h>
#include "jsk_pcl_ros/moving_least_square_smoothing.h"

#include <geometry_msgs/PoseStamped.h>
diff --git a/src/organized_multi_plane_segmentation_nodelet.cpp b/src/organized_multi_plane_segmentation_nodelet.cpp
index 5805a9963..66f808cd9 100644
--- a/src/organized_multi_plane_segmentation_nodelet.cpp
+++ b/src/organized_multi_plane_segmentation_nodelet.cpp
@@ -245,9 +245,9 @@ namespace jsk_pcl_ros
// compute the distance between two boundaries.
// if they are near enough, we can regard these two map should connect
pcl::PointIndices::Ptr a_indices
- = boost::make_shared<pcl::PointIndices>(boundary_indices[i]);
+ = std::make_shared<pcl::PointIndices>(boundary_indices[i]);
pcl::PointIndices::Ptr b_indices
- = boost::make_shared<pcl::PointIndices>(boundary_indices[j]);
+ = std::make_shared<pcl::PointIndices>(boundary_indices[j]);
pcl::PointCloud<PointT> a_cloud, b_cloud;
extract.setIndices(a_indices);
extract.filter(a_cloud);
@@ -363,9 +363,9 @@ namespace jsk_pcl_ros
pcl_new_coefficients.values = new_coefficients;
// estimate concave hull
pcl::PointIndices::Ptr indices_ptr
- = boost::make_shared<pcl::PointIndices>(one_boundaries);
+ = std::make_shared<pcl::PointIndices>(one_boundaries);
pcl::ModelCoefficients::Ptr coefficients_ptr
- = boost::make_shared<pcl::ModelCoefficients>(pcl_new_coefficients);
+ = std::make_shared<pcl::ModelCoefficients>(pcl_new_coefficients);
jsk_recognition_utils::ConvexPolygon::Ptr convex
= jsk_recognition_utils::convexFromCoefficientsAndInliers<PointT>(
input, indices_ptr, coefficients_ptr);
@@ -476,7 +476,7 @@ namespace jsk_pcl_ros
for (size_t i = 0; i < boundary_indices.size(); i++) {
pcl::PointCloud<PointT> boundary_cloud;
pcl::PointIndices boundary_one_indices = boundary_indices[i];
- pcl::PointIndices::Ptr indices_ptr = boost::make_shared<pcl::PointIndices>(boundary_indices[i]);
+ pcl::PointIndices::Ptr indices_ptr = std::make_shared<pcl::PointIndices>(boundary_indices[i]);
extract.setIndices(indices_ptr);
extract.filter(boundary_cloud);
boundaries.push_back(boundary_cloud);
@@ -509,7 +509,7 @@ namespace jsk_pcl_ros
jsk_recognition_utils::Vertices centroids;
for (size_t i = 0; i < inliers.size(); i++) {
pcl::PointIndices::Ptr target_inliers
- = boost::make_shared<pcl::PointIndices>(inliers[i]);
+ = std::make_shared<pcl::PointIndices>(inliers[i]);
pcl::PointCloud<PointT>::Ptr target_cloud (new pcl::PointCloud<PointT>);
Eigen::Vector4f centroid;
pcl::ExtractIndices<PointT> ex;
@@ -639,7 +639,7 @@ namespace jsk_pcl_ros
= ransac_refinement_time_acc_.scopedTimer();
for (size_t i = 0; i < input_indices.size(); i++) {
pcl::PointIndices::Ptr input_indices_ptr
- = boost::make_shared<pcl::PointIndices>(input_indices[i]);
+ = std::make_shared<pcl::PointIndices>(input_indices[i]);
Eigen::Vector3f normal(input_coefficients[i].values[0],
input_coefficients[i].values[1],
input_coefficients[i].values[2]);
diff --git a/src/particle_filter_tracking_nodelet.cpp b/src/particle_filter_tracking_nodelet.cpp
index 4904dae43..09ea9297e 100644
--- a/src/particle_filter_tracking_nodelet.cpp
+++ b/src/particle_filter_tracking_nodelet.cpp
@@ -145,18 +145,18 @@ namespace jsk_pcl_ros
}


- boost::shared_ptr<DistanceCoherence<PointT> >
+ std::shared_ptr<DistanceCoherence<PointT> >
distance_coherence(new DistanceCoherence<PointT>);
coherence->addPointCoherence(distance_coherence);

//add HSV coherence
if (use_hsv) {
- boost::shared_ptr<HSVColorCoherence<PointT> > hsv_color_coherence
- = boost::shared_ptr<HSVColorCoherence<PointT> >(new HSVColorCoherence<PointT>());
+ std::shared_ptr<HSVColorCoherence<PointT> > hsv_color_coherence
+ = std::shared_ptr<HSVColorCoherence<PointT> >(new HSVColorCoherence<PointT>());
coherence->addPointCoherence(hsv_color_coherence);
}

- boost::shared_ptr<pcl::search::Octree<PointT> > search
+ std::shared_ptr<pcl::search::Octree<PointT> > search
(new pcl::search::Octree<PointT>(octree_resolution));
//boost::shared_ptr<pcl::search::KdTree<PointT> > search(new pcl::search::KdTree<PointT>());
coherence->setSearchMethod(search);
diff --git a/src/pointcloud_screenpoint_nodelet.cpp b/src/pointcloud_screenpoint_nodelet.cpp
index d6f2a8f7a..ed8baa913 100644
--- a/src/pointcloud_screenpoint_nodelet.cpp
+++ b/src/pointcloud_screenpoint_nodelet.cpp
@@ -49,7 +49,7 @@ void PointcloudScreenpoint::onInit()
ConnectionBasedNodelet::onInit();


- normals_tree_ = boost::make_shared< pcl::search::KdTree< pcl::PointXYZ > > ();
+ normals_tree_ = std::make_shared< pcl::search::KdTree< pcl::PointXYZ > > ();
n3d_.setSearchMethod (normals_tree_);

dyn_srv_ = boost::make_shared< dynamic_reconfigure::Server< Config > >(*pnh_);
@@ -240,7 +240,7 @@ bool PointcloudScreenpoint::screenpoint_cb (

// search normal
n3d_.setSearchSurface(
- boost::make_shared<pcl::PointCloud<pcl::PointXYZ > > (latest_cloud_));
+ std::make_shared<pcl::PointCloud<pcl::PointXYZ > > (latest_cloud_));

pcl::PointCloud<pcl::PointXYZ> cloud_;
pcl::PointXYZ pt;
@@ -250,7 +250,7 @@ bool PointcloudScreenpoint::screenpoint_cb (
cloud_.points.resize(0);
cloud_.points.push_back(pt);

- n3d_.setInputCloud (boost::make_shared<pcl::PointCloud<pcl::PointXYZ > > (cloud_));
+ n3d_.setInputCloud (std::make_shared<pcl::PointCloud<pcl::PointXYZ > > (cloud_));
pcl::PointCloud<pcl::Normal> cloud_normals;
n3d_.compute (cloud_normals);

diff --git a/src/region_growing_multiple_plane_segmentation_nodelet.cpp b/src/region_growing_multiple_plane_segmentation_nodelet.cpp
index 8b629a376..dbdc3029c 100644
--- a/src/region_growing_multiple_plane_segmentation_nodelet.cpp
+++ b/src/region_growing_multiple_plane_segmentation_nodelet.cpp
@@ -193,7 +193,7 @@ namespace jsk_pcl_ros
for (size_t i = 0; i < clusters->size(); i++) {
pcl::PointIndices::Ptr plane_inliers(new pcl::PointIndices);
pcl::ModelCoefficients::Ptr plane_coefficients(new pcl::ModelCoefficients);
- pcl::PointIndices::Ptr cluster = boost::make_shared<pcl::PointIndices>((*clusters)[i]);
+ pcl::PointIndices::Ptr cluster = std::make_shared<pcl::PointIndices>((*clusters)[i]);
ransacEstimation(cloud, cluster,
*plane_inliers, *plane_coefficients);
if (plane_inliers->indices.size() > 0) {
diff --git a/src/region_growing_segmentation_nodelet.cpp b/src/region_growing_segmentation_nodelet.cpp
index 5a3ae9ed0..1565a3464 100644
--- a/src/region_growing_segmentation_nodelet.cpp
+++ b/src/region_growing_segmentation_nodelet.cpp
@@ -89,7 +89,7 @@ namespace jsk_pcl_ros
void RegionGrowingSegmentation::segment(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
boost::mutex::scoped_lock lock(mutex_);
- pcl::search::Search<pcl::PointNormal>::Ptr tree = boost::shared_ptr<pcl::search::Search<pcl::PointNormal> > (new pcl::search::KdTree<pcl::PointNormal>);
+ pcl::search::Search<pcl::PointNormal>::Ptr tree = std::shared_ptr<pcl::search::Search<pcl::PointNormal> > (new pcl::search::KdTree<pcl::PointNormal>);
pcl::PointCloud<pcl::PointNormal> cloud;
pcl::fromROSMsg(*msg, cloud);

diff --git a/src/resize_points_publisher_nodelet.cpp b/src/resize_points_publisher_nodelet.cpp
index aee6228a5..f8ed0b8ac 100644
--- a/src/resize_points_publisher_nodelet.cpp
+++ b/src/resize_points_publisher_nodelet.cpp
@@ -180,7 +180,7 @@ namespace jsk_pcl_ros
}
pcl::ExtractIndices<T> extract;
extract.setInputCloud (pcl_input_cloud.makeShared());
- extract.setIndices (boost::make_shared <std::vector<int> > (ex_indices));
+ extract.setIndices (std::make_shared <std::vector<int> > (ex_indices));
extract.setNegative (false);
extract.filter (output);

Loading

0 comments on commit d7afc76

Please sign in to comment.