diff options
Diffstat (limited to 'dev-ros/pcl_ros/files/pcl111.patch')
| -rw-r--r-- | dev-ros/pcl_ros/files/pcl111.patch | 963 |
1 files changed, 0 insertions, 963 deletions
diff --git a/dev-ros/pcl_ros/files/pcl111.patch b/dev-ros/pcl_ros/files/pcl111.patch deleted file mode 100644 index 8f3433ffccaa..000000000000 --- a/dev-ros/pcl_ros/files/pcl111.patch +++ /dev/null @@ -1,963 +0,0 @@ -From e812d3cf1b67cc73841b41e690d53c74e5077a05 Mon Sep 17 00:00:00 2001 -From: Kunal Tyagi <tyagi.kunal@live.com> -Date: Wed, 6 May 2020 08:41:07 +0900 -Subject: [PATCH] Changes in preparation for PCL 1.11 (#273) - -* Deriving typedef from pcl type - -* Explicit boost shared_ptr for function parameters - -* Use boost::shared_ptr instead of PCL::Ptr - -* Implementing boost-std compatibility - -* Using the compatibility layer ---- - pcl_ros/include/pcl_ros/features/feature.h | 14 +- - pcl_ros/include/pcl_ros/filters/filter.h | 4 +- - pcl_ros/include/pcl_ros/pcl_nodelet.h | 9 +- - pcl_ros/include/pcl_ros/point_cloud.h | 121 ++++++++++++++++++ - .../extract_polygonal_prism_data.h | 4 +- - .../pcl_ros/segmentation/sac_segmentation.h | 12 +- - .../segmentation/segment_differences.h | 4 +- - pcl_ros/include/pcl_ros/surface/convex_hull.h | 4 +- - .../pcl_ros/surface/moving_least_squares.h | 4 +- - pcl_ros/src/pcl_ros/features/boundary.cpp | 10 +- - pcl_ros/src/pcl_ros/features/fpfh.cpp | 10 +- - pcl_ros/src/pcl_ros/features/fpfh_omp.cpp | 10 +- - .../pcl_ros/features/moment_invariants.cpp | 8 +- - pcl_ros/src/pcl_ros/features/normal_3d.cpp | 8 +- - .../src/pcl_ros/features/normal_3d_omp.cpp | 8 +- - .../src/pcl_ros/features/normal_3d_tbb.cpp | 4 +- - pcl_ros/src/pcl_ros/features/pfh.cpp | 10 +- - .../pcl_ros/features/principal_curvatures.cpp | 10 +- - pcl_ros/src/pcl_ros/features/shot.cpp | 10 +- - pcl_ros/src/pcl_ros/features/shot_omp.cpp | 10 +- - pcl_ros/src/pcl_ros/features/vfh.cpp | 10 +- - .../pcl_ros/segmentation/extract_clusters.cpp | 4 +- - .../extract_polygonal_prism_data.cpp | 6 +- - .../pcl_ros/segmentation/sac_segmentation.cpp | 6 +- - .../segmentation/segment_differences.cpp | 8 +- - pcl_ros/src/pcl_ros/surface/convex_hull.cpp | 8 +- - .../pcl_ros/surface/moving_least_squares.cpp | 10 +- - pcl_ros/tools/pointcloud_to_pcd.cpp | 2 +- - 28 files changed, 225 insertions(+), 103 deletions(-) - -diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h -index 26bcfe6b..098c20bc 100644 ---- a/pcl_ros/include/pcl_ros/features/feature.h -+++ b/pcl_ros/include/pcl_ros/features/feature.h -@@ -69,11 +69,11 @@ namespace pcl_ros - typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr; - - typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn; -- typedef PointCloudIn::Ptr PointCloudInPtr; -- typedef PointCloudIn::ConstPtr PointCloudInConstPtr; -+ typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr; -+ typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr; - -- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; -- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; -+ typedef pcl::IndicesPtr IndicesPtr; -+ typedef pcl::IndicesConstPtr IndicesConstPtr; - - /** \brief Empty constructor. */ - Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0), -@@ -152,7 +152,7 @@ namespace pcl_ros - indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp; - PointCloudIn cloud; - cloud.header.stamp = input->header.stamp; -- nf_pc_.add (cloud.makeShared ()); -+ nf_pc_.add (ros_ptr(cloud.makeShared ())); - nf_pi_.add (boost::make_shared<PointIndices> (indices)); - } - -@@ -190,8 +190,8 @@ namespace pcl_ros - typedef sensor_msgs::PointCloud2 PointCloud2; - - typedef pcl::PointCloud<pcl::Normal> PointCloudN; -- typedef PointCloudN::Ptr PointCloudNPtr; -- typedef PointCloudN::ConstPtr PointCloudNConstPtr; -+ typedef boost::shared_ptr<PointCloudN> PointCloudNPtr; -+ typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr; - - FeatureFromNormals () : normals_() {}; - -diff --git a/pcl_ros/include/pcl_ros/filters/filter.h b/pcl_ros/include/pcl_ros/filters/filter.h -index 94c1e883..b4e79538 100644 ---- a/pcl_ros/include/pcl_ros/filters/filter.h -+++ b/pcl_ros/include/pcl_ros/filters/filter.h -@@ -58,8 +58,8 @@ namespace pcl_ros - public: - typedef sensor_msgs::PointCloud2 PointCloud2; - -- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; -- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; -+ typedef pcl::IndicesPtr IndicesPtr; -+ typedef pcl::IndicesConstPtr IndicesConstPtr; - - Filter () {} - -diff --git a/pcl_ros/include/pcl_ros/pcl_nodelet.h b/pcl_ros/include/pcl_ros/pcl_nodelet.h -index f12e62d7..279d6730 100644 ---- a/pcl_ros/include/pcl_ros/pcl_nodelet.h -+++ b/pcl_ros/include/pcl_ros/pcl_nodelet.h -@@ -48,6 +48,7 @@ - // PCL includes - #include <pcl_msgs/PointIndices.h> - #include <pcl_msgs/ModelCoefficients.h> -+#include <pcl/pcl_base.h> - #include <pcl/point_types.h> - #include <pcl_conversions/pcl_conversions.h> - #include "pcl_ros/point_cloud.h" -@@ -75,8 +76,8 @@ namespace pcl_ros - typedef sensor_msgs::PointCloud2 PointCloud2; - - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - typedef pcl_msgs::PointIndices PointIndices; - typedef PointIndices::Ptr PointIndicesPtr; -@@ -86,8 +87,8 @@ namespace pcl_ros - typedef ModelCoefficients::Ptr ModelCoefficientsPtr; - typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr; - -- typedef boost::shared_ptr <std::vector<int> > IndicesPtr; -- typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; -+ typedef pcl::IndicesPtr IndicesPtr; -+ typedef pcl::IndicesConstPtr IndicesConstPtr; - - /** \brief Empty constructor. */ - PCLNodelet () : use_indices_ (false), latched_indices_ (false), -diff --git a/pcl_ros/include/pcl_ros/point_cloud.h b/pcl_ros/include/pcl_ros/point_cloud.h -index bbf30ad1..93df7365 100644 ---- a/pcl_ros/include/pcl_ros/point_cloud.h -+++ b/pcl_ros/include/pcl_ros/point_cloud.h -@@ -270,4 +270,125 @@ namespace ros - - } // namespace ros - -+// test if testing machinery can be implemented -+#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr) -+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1 -+#else -+#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0 -+#endif -+ -+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED -+#include <type_traits> // for std::is_same -+#include <memory> // for std::shared_ptr -+ -+#include <pcl/pcl_config.h> -+#if PCL_VERSION_COMPARE(>=, 1, 11, 0) -+#include <pcl/memory.h> -+#elif PCL_VERSION_COMPARE(>=, 1, 10, 0) -+#include <pcl/make_shared.h> -+#endif -+#endif -+ -+namespace pcl -+{ -+ namespace detail -+ { -+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED -+#if PCL_VERSION_COMPARE(>=, 1, 10, 0) -+ template <class T> -+ constexpr static bool pcl_uses_boost = std::is_same<boost::shared_ptr<T>, -+ pcl::shared_ptr<T>>::value; -+#else -+ template <class T> -+ constexpr static bool pcl_uses_boost = true; -+#endif -+ -+ template<class SharedPointer> struct Holder -+ { -+ SharedPointer p; -+ -+ Holder(const SharedPointer &p) : p(p) {} -+ Holder(const Holder &other) : p(other.p) {} -+ Holder(Holder &&other) : p(std::move(other.p)) {} -+ -+ void operator () (...) { p.reset(); } -+ }; -+ -+ template<class T> -+ inline std::shared_ptr<T> to_std_ptr(const boost::shared_ptr<T> &p) -+ { -+ typedef Holder<std::shared_ptr<T>> H; -+ if(H *h = boost::get_deleter<H>(p)) -+ { -+ return h->p; -+ } -+ else -+ { -+ return std::shared_ptr<T>(p.get(), Holder<boost::shared_ptr<T>>(p)); -+ } -+ } -+ -+ template<class T> -+ inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> &p) -+ { -+ typedef Holder<boost::shared_ptr<T>> H; -+ if(H * h = std::get_deleter<H>(p)) -+ { -+ return h->p; -+ } -+ else -+ { -+ return boost::shared_ptr<T>(p.get(), Holder<std::shared_ptr<T>>(p)); -+ } -+ } -+#endif -+ } // namespace pcl::detail -+ -+// add functions to convert to smart pointer used by ROS -+ template <class T> -+ inline boost::shared_ptr<T> ros_ptr(const boost::shared_ptr<T> &p) -+ { -+ return p; -+ } -+ -+#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED -+ template <class T> -+ inline boost::shared_ptr<T> ros_ptr(const std::shared_ptr<T> &p) -+ { -+ return detail::to_boost_ptr(p); -+ } -+ -+// add functions to convert to smart pointer used by PCL, based on PCL's own pointer -+ template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type> -+ inline std::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p) -+ { -+ return p; -+ } -+ -+ template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type> -+ inline std::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) -+ { -+ return detail::to_std_ptr(p); -+ } -+ -+ template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type> -+ inline boost::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p) -+ { -+ return detail::to_boost_ptr(p); -+ } -+ -+ template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type> -+ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) -+ { -+ return p; -+ } -+#else -+ template <class T> -+ inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p) -+ { -+ return p; -+ } -+#endif -+} // namespace pcl -+ - #endif -diff --git a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h -index 7134f905..13b85316 100644 ---- a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h -+++ b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h -@@ -64,8 +64,8 @@ namespace pcl_ros - class ExtractPolygonalPrismData : public PCLNodelet - { - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - protected: - /** \brief The output PointIndices publisher. */ -diff --git a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h -index af2c9126..9243e363 100644 ---- a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h -+++ b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h -@@ -61,8 +61,8 @@ namespace pcl_ros - class SACSegmentation : public PCLNodelet - { - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - public: - /** \brief Constructor. */ -@@ -181,12 +181,12 @@ namespace pcl_ros - class SACSegmentationFromNormals: public SACSegmentation - { - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - typedef pcl::PointCloud<pcl::Normal> PointCloudN; -- typedef PointCloudN::Ptr PointCloudNPtr; -- typedef PointCloudN::ConstPtr PointCloudNConstPtr; -+ typedef boost::shared_ptr<PointCloudN> PointCloudNPtr; -+ typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr; - - public: - /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different. -diff --git a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h -index 4914bc86..da767ab3 100644 ---- a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h -+++ b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h -@@ -60,8 +60,8 @@ namespace pcl_ros - class SegmentDifferences : public PCLNodelet - { - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - public: - /** \brief Empty constructor. */ -diff --git a/pcl_ros/include/pcl_ros/surface/convex_hull.h b/pcl_ros/include/pcl_ros/surface/convex_hull.h -index e419c0f8..54a1f367 100644 ---- a/pcl_ros/include/pcl_ros/surface/convex_hull.h -+++ b/pcl_ros/include/pcl_ros/surface/convex_hull.h -@@ -53,8 +53,8 @@ namespace pcl_ros - class ConvexHull2D : public PCLNodelet - { - typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; -- typedef PointCloud::Ptr PointCloudPtr; -- typedef PointCloud::ConstPtr PointCloudConstPtr; -+ typedef boost::shared_ptr<PointCloud> PointCloudPtr; -+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; - - private: - /** \brief Nodelet initialization routine. */ -diff --git a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h -index b909edf8..e90f562a 100644 ---- a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h -+++ b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h -@@ -62,8 +62,8 @@ namespace pcl_ros - typedef pcl::PointNormal NormalOut; - - typedef pcl::PointCloud<PointIn> PointCloudIn; -- typedef PointCloudIn::Ptr PointCloudInPtr; -- typedef PointCloudIn::ConstPtr PointCloudInConstPtr; -+ typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr; -+ typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr; - typedef pcl::PointCloud<NormalOut> NormalCloudOut; - - typedef pcl::KdTree<PointIn> KdTree; -diff --git a/pcl_ros/src/pcl_ros/features/boundary.cpp b/pcl_ros/src/pcl_ros/features/boundary.cpp -index 9334641a..26ee07c1 100644 ---- a/pcl_ros/src/pcl_ros/features/boundary.cpp -+++ b/pcl_ros/src/pcl_ros/features/boundary.cpp -@@ -43,7 +43,7 @@ pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,17 +57,17 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); - - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::BoundaryEstimation BoundaryEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/fpfh.cpp b/pcl_ros/src/pcl_ros/features/fpfh.cpp -index 3f698aad..53be549c 100644 ---- a/pcl_ros/src/pcl_ros/features/fpfh.cpp -+++ b/pcl_ros/src/pcl_ros/features/fpfh.cpp -@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::FPFHEstimation FPFHEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp -index 58dd911f..e4adcabb 100644 ---- a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp -+++ b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp -@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP; -diff --git a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp -index d0ec3441..a6e2249a 100644 ---- a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp -+++ b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp -@@ -43,7 +43,7 @@ pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &c - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -56,9 +56,9 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -+ impl_.setSearchSurface (pcl_ptr(surface)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -66,7 +66,7 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/normal_3d.cpp b/pcl_ros/src/pcl_ros/features/normal_3d.cpp -index 9e700f78..042186a9 100644 ---- a/pcl_ros/src/pcl_ros/features/normal_3d.cpp -+++ b/pcl_ros/src/pcl_ros/features/normal_3d.cpp -@@ -43,7 +43,7 @@ pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -56,9 +56,9 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -+ impl_.setSearchSurface (pcl_ptr(surface)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -66,7 +66,7 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::NormalEstimation NormalEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp -index a741c052..3e92d2f2 100644 ---- a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp -+++ b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp -@@ -43,7 +43,7 @@ pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -56,9 +56,9 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -+ impl_.setSearchSurface (pcl_ptr(surface)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -66,7 +66,7 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP; -diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp -index a4a8581e..680a4a02 100644 ---- a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp -+++ b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp -@@ -45,7 +45,7 @@ pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloud output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -71,7 +71,7 @@ pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB; -diff --git a/pcl_ros/src/pcl_ros/features/pfh.cpp b/pcl_ros/src/pcl_ros/features/pfh.cpp -index 38b4d19c..dd8409e2 100644 ---- a/pcl_ros/src/pcl_ros/features/pfh.cpp -+++ b/pcl_ros/src/pcl_ros/features/pfh.cpp -@@ -43,7 +43,7 @@ pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,10 +57,10 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -68,7 +68,7 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::PFHEstimation PFHEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp -index 113124dc..501d686e 100644 ---- a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp -+++ b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp -@@ -43,7 +43,7 @@ pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,10 +57,10 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -68,7 +68,7 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/shot.cpp b/pcl_ros/src/pcl_ros/features/shot.cpp -index d051ab0f..ed6ba44b 100644 ---- a/pcl_ros/src/pcl_ros/features/shot.cpp -+++ b/pcl_ros/src/pcl_ros/features/shot.cpp -@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::SHOTEstimation SHOTEstimation; -diff --git a/pcl_ros/src/pcl_ros/features/shot_omp.cpp b/pcl_ros/src/pcl_ros/features/shot_omp.cpp -index 1ac1b065..4563f123 100644 ---- a/pcl_ros/src/pcl_ros/features/shot_omp.cpp -+++ b/pcl_ros/src/pcl_ros/features/shot_omp.cpp -@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP; -diff --git a/pcl_ros/src/pcl_ros/features/vfh.cpp b/pcl_ros/src/pcl_ros/features/vfh.cpp -index 9d0fe361..ece448fd 100644 ---- a/pcl_ros/src/pcl_ros/features/vfh.cpp -+++ b/pcl_ros/src/pcl_ros/features/vfh.cpp -@@ -43,7 +43,7 @@ pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud) - { - PointCloudOut output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - void -@@ -57,10 +57,10 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - impl_.setRadiusSearch (search_radius_); - - // Set the inputs -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices); -- impl_.setSearchSurface (surface); -- impl_.setInputNormals (normals); -+ impl_.setSearchSurface (pcl_ptr(surface)); -+ impl_.setInputNormals (pcl_ptr(normals)); - // Estimate the feature - PointCloudOut output; - impl_.compute (output); -@@ -68,7 +68,7 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud, - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::VFHEstimation VFHEstimation; -diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp -index 17adec46..5599b408 100644 ---- a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp -+++ b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp -@@ -202,7 +202,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback ( - if (indices) - indices_ptr.reset (new std::vector<int> (indices->indices)); - -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices_ptr); - - std::vector<pcl::PointIndices> clusters; -@@ -239,7 +239,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback ( - header.stamp += ros::Duration (i * 0.001); - toPCL(header, output.header); - // Publish a Boost shared ptr const data -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s", - i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ()); - } -diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp -index 0185bfbe..ff823b19 100644 ---- a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp -+++ b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp -@@ -189,16 +189,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback ( - pub_output_.publish (inliers); - return; - } -- impl_.setInputPlanarHull (planar_hull.makeShared ()); -+ impl_.setInputPlanarHull (pcl_ptr(planar_hull.makeShared ())); - } - else -- impl_.setInputPlanarHull (hull); -+ impl_.setInputPlanarHull (pcl_ptr(hull)); - - IndicesPtr indices_ptr; - if (indices && !indices->header.frame_id.empty ()) - indices_ptr.reset (new std::vector<int> (indices->indices)); - -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices_ptr); - - // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL) -diff --git a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp -index b73dd3fd..bc7b97e7 100644 ---- a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp -+++ b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp -@@ -324,7 +324,7 @@ pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &clou - if (indices && !indices->header.frame_id.empty ()) - indices_ptr.reset (new std::vector<int> (indices->indices)); - -- impl_.setInputCloud (cloud_tf); -+ impl_.setInputCloud (pcl_ptr(cloud_tf)); - impl_.setIndices (indices_ptr); - - // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL) -@@ -651,8 +651,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback ( - return; - } - -- impl_.setInputCloud (cloud); -- impl_.setInputNormals (cloud_normals); -+ impl_.setInputCloud (pcl_ptr(cloud)); -+ impl_.setInputNormals (pcl_ptr(cloud_normals)); - - IndicesPtr indices_ptr; - if (indices && !indices->header.frame_id.empty ()) -diff --git a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp -index 4c934152..e3979549 100644 ---- a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp -+++ b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp -@@ -115,7 +115,7 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl - NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); - PointCloud output; - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - return; - } - -@@ -126,13 +126,13 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl - cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (), - cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ()); - -- impl_.setInputCloud (cloud); -- impl_.setTargetCloud (cloud_target); -+ impl_.setInputCloud (pcl_ptr(cloud)); -+ impl_.setTargetCloud (pcl_ptr(cloud_target)); - - PointCloud output; - impl_.segment (output); - -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (), - output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ()); - } -diff --git a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp -index 4b7eeaf5..75903889 100644 ---- a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp -+++ b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp -@@ -121,7 +121,7 @@ void - NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); - // Publish an empty message - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - return; - } - // If indices are given, check if they are valid -@@ -130,7 +130,7 @@ void - NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); - // Publish an empty message - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - return; - } - -@@ -150,7 +150,7 @@ void - if (indices) - indices_ptr.reset (new std::vector<int> (indices->indices)); - -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - impl_.setIndices (indices_ptr); - - // Estimate the feature -@@ -194,7 +194,7 @@ void - } - // Publish a Boost shared ptr const data - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - } - - typedef pcl_ros::ConvexHull2D ConvexHull2D; -diff --git a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp -index b9a01e64..99e5d481 100644 ---- a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp -+++ b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp -@@ -141,7 +141,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr - { - NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ()); - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - return; - } - // If indices are given, check if they are valid -@@ -149,7 +149,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr - { - NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ()); - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - return; - } - -@@ -166,7 +166,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr - /// - - // Reset the indices and surface pointers -- impl_.setInputCloud (cloud); -+ impl_.setInputCloud (pcl_ptr(cloud)); - - IndicesPtr indices_ptr; - if (indices) -@@ -182,9 +182,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr - // Publish a Boost shared ptr const data - // Enforce that the TF frame and the timestamp are copied - output.header = cloud->header; -- pub_output_.publish (output.makeShared ()); -+ pub_output_.publish (ros_ptr(output.makeShared ())); - normals->header = cloud->header; -- pub_normals_.publish (normals); -+ pub_normals_.publish (ros_ptr(normals)); - } - - ////////////////////////////////////////////////////////////////////////////////////////////// -diff --git a/pcl_ros/tools/pointcloud_to_pcd.cpp b/pcl_ros/tools/pointcloud_to_pcd.cpp -index 484113da..fb149b46 100644 ---- a/pcl_ros/tools/pointcloud_to_pcd.cpp -+++ b/pcl_ros/tools/pointcloud_to_pcd.cpp -@@ -78,7 +78,7 @@ class PointCloudToPCD - //////////////////////////////////////////////////////////////////////////////// - // Callback - void -- cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud) -+ cloud_cb (const boost::shared_ptr<const pcl::PCLPointCloud2>& cloud) - { - if ((cloud->width * cloud->height) == 0) - return; 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