From 13e0644025118e28b6d7e8b7b840657fbd5f2d4d Mon Sep 17 00:00:00 2001
From: "Radu B. Rusu" <radu.b.rusu@gmail.com>
Date: Sun, 17 Apr 2011 22:31:39 +0000
Subject: [PATCH] moved away from make_shared completely

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@525 a9d63959-f2ad-4865-b262-bf0e56cfafb6
---
 test/test_feature.cpp          | 13 ++++++++-----
 test/test_octree.cpp           |  1 -
 test/test_registration.cpp     |  6 +++---
 test/test_sample_consensus.cpp |  5 +++--
 4 files changed, 14 insertions(+), 11 deletions(-)

diff --git a/test/test_feature.cpp b/test/test_feature.cpp
index 137f7926f..bf33b9821 100644
--- a/test/test_feature.cpp
+++ b/test/test_feature.cpp
@@ -38,7 +38,6 @@
 
 #include <gtest/gtest.h>
 
-#include <boost/make_shared.hpp>
 #include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/kdtree/kdtree_flann.h>
@@ -949,7 +948,8 @@ TEST (PCL, IntensityGradientEstimation)
   PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
   NormalEstimation<PointXYZI, Normal> norm_est;
   norm_est.setInputCloud (cloud_ptr);
-  norm_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZI> > (false));
+  KdTreeFLANN<PointXYZI>::Ptr treept1 (new KdTreeFLANN<PointXYZI> (false));
+  norm_est.setSearchMethod (treept1);
   norm_est.setRadiusSearch (0.25);
   norm_est.compute (*normals);
 
@@ -958,7 +958,8 @@ TEST (PCL, IntensityGradientEstimation)
   IntensityGradientEstimation<PointXYZI, Normal, IntensityGradient> grad_est;
   grad_est.setInputCloud (cloud_ptr);
   grad_est.setInputNormals (normals);
-  grad_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZI> > (false));
+  KdTreeFLANN<PointXYZI>::Ptr treept2 (new KdTreeFLANN<PointXYZI> (false));
+  grad_est.setSearchMethod (treept2);
   grad_est.setRadiusSearch (0.25);
   grad_est.compute (gradient);
 
@@ -1024,7 +1025,8 @@ TEST (PCL, IntensitySpinEstimation)
   // Compute the intensity-domain spin features
   typedef Histogram<20> IntensitySpin;
   IntensitySpinEstimation<PointXYZI, IntensitySpin> ispin_est;
-  ispin_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZI> > (false));
+  KdTreeFLANN<PointXYZI>::Ptr treept3 (new KdTreeFLANN<PointXYZI> (false));
+  ispin_est.setSearchMethod (treept3);
   ispin_est.setRadiusSearch (10.0);
   ispin_est.setNrDistanceBins (4);
   ispin_est.setNrIntensityBins (5);
@@ -1110,7 +1112,8 @@ TEST (PCL, RIFTEstimation)
   // Compute the RIFT features
   typedef Histogram<32> RIFTDescriptor;
   RIFTEstimation<PointXYZI, IntensityGradient, RIFTDescriptor> rift_est;
-  rift_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZI> > (false));
+  KdTreeFLANN<PointXYZI>::Ptr treept4 (new KdTreeFLANN<PointXYZI> (false));
+  rift_est.setSearchMethod (treept4);
   rift_est.setRadiusSearch (10.0);
   rift_est.setNrDistanceBins (4);
   rift_est.setNrGradientBins (8);
diff --git a/test/test_octree.cpp b/test/test_octree.cpp
index 6f80aae98..241f365fa 100644
--- a/test/test_octree.cpp
+++ b/test/test_octree.cpp
@@ -46,7 +46,6 @@ using namespace std;
 #include <pcl/common/time.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
-#include <boost/make_shared.hpp>
 
 using namespace pcl;
 
diff --git a/test/test_registration.cpp b/test/test_registration.cpp
index 57eaf3f7a..a10051881 100644
--- a/test/test_registration.cpp
+++ b/test/test_registration.cpp
@@ -229,15 +229,15 @@ TEST (PCL, SampleConsensusInitialAlignment)
   cloud_target_ptr = cloud_target.makeShared ();
 
   // Initialize estimators for surface normals and FPFH features
-  KdTreeFLANN<PointXYZ> tree;
+  KdTreeFLANN<PointXYZ>::Ptr tree (new KdTreeFLANN<PointXYZ>);
 
   NormalEstimation<PointXYZ, Normal> norm_est;
-  norm_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZ> > (tree));
+  norm_est.setSearchMethod (tree);
   norm_est.setRadiusSearch (0.05);
   PointCloud<Normal> normals;
 
   FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh_est;
-  fpfh_est.setSearchMethod (boost::make_shared<KdTreeFLANN<PointXYZ> > (tree));
+  fpfh_est.setSearchMethod (tree);
   fpfh_est.setRadiusSearch (0.05);
   PointCloud<FPFHSignature33> features_source, features_target;
 
diff --git a/test/test_sample_consensus.cpp b/test/test_sample_consensus.cpp
index d447f50ee..d6a64629a 100644
--- a/test/test_sample_consensus.cpp
+++ b/test/test_sample_consensus.cpp
@@ -835,10 +835,11 @@ int
 
   // Estimate surface normals
   NormalEstimation<PointXYZ, Normal> n;
-  KdTree<PointXYZ>::Ptr tree = boost::make_shared<KdTreeFLANN<PointXYZ> > ();
+  KdTree<PointXYZ>::Ptr tree (new KdTreeFLANN<PointXYZ>);
   tree->setInputCloud (cloud_);
   n.setInputCloud (cloud_);
-  n.setIndices (boost::make_shared <vector<int> > (indices_));
+  boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices_));
+  n.setIndices (indicesptr);
   n.setSearchMethod (tree);
   n.setRadiusSearch (0.02);    // Use 2cm radius to estimate the normals
   n.compute (*normals_);
-- 
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