Switch to vectors

Author: shrijitsingh99

features/include/pcl/features/range_image_border_extractor.h

@@ -171,10 +171,10 @@ namespace pcl
       getBorderDirections() { calculateBorderDirections(); return border_directions_.get(); }
 
       float*
-      getSurfaceChangeScores () { calculateSurfaceChanges (); return surface_change_scores_; }
+      getSurfaceChangeScores () { calculateSurfaceChanges (); return surface_change_scores_.data(); }
 
       Eigen::Vector3f*
-      getSurfaceChangeDirections() { calculateSurfaceChanges(); return surface_change_directions_; }
+      getSurfaceChangeDirections() { calculateSurfaceChanges(); return surface_change_directions_.get(); }
 
 
     protected:
@@ -188,8 +188,8 @@ namespace pcl
       std::unique_ptr<PointCloudOut> border_descriptions_;
       std::unique_ptr<ShadowBorderIndices*[]> shadow_border_informations_;
       std::unique_ptr<Eigen::Vector3f*[]> border_directions_;
-      float* surface_change_scores_;
-      Eigen::Vector3f* surface_change_directions_;
+      std::vector<float> surface_change_scores_;
+      std::unique_ptr<Eigen::Vector3f[]> surface_change_directions_;
 
 
       // =====PROTECTED METHODS=====

features/src/range_image_border_extractor.cpp

@@ -56,7 +56,7 @@ namespace pcl
 RangeImageBorderExtractor::RangeImageBorderExtractor(const RangeImage* range_image) :
   range_image_(range_image), range_image_size_during_extraction_(0),
   surface_structure_(nullptr), border_descriptions_(nullptr), shadow_border_informations_(nullptr), border_directions_(nullptr),
-  surface_change_scores_(nullptr), surface_change_directions_(nullptr)
+  surface_change_directions_(nullptr)
 {
 }
 
@@ -88,13 +88,13 @@ RangeImageBorderExtractor::clearData ()
     if (border_directions_!=nullptr)
       delete border_directions_[i];
   }
-  delete[] surface_structure_; surface_structure_ = nullptr;
-  delete[] shadow_border_informations_; shadow_border_informations_ = nullptr;
-  delete[] border_directions_; border_directions_ = nullptr;
-  delete border_descriptions_; border_descriptions_ = nullptr;
+  surface_structure_.reset();
+  shadow_border_informations_.reset();
+  border_directions_.reset();
+  border_descriptions_.reset();
 
-  delete[] surface_change_scores_;  surface_change_scores_ = nullptr;
-  delete[] surface_change_directions_;  surface_change_directions_ = nullptr;
+  surface_change_directions_.reset();
+  surface_change_scores_.clear();
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -560,7 +560,7 @@ RangeImageBorderExtractor::calculateBorderDirections ()
 void
 RangeImageBorderExtractor::calculateSurfaceChanges ()
 {
-  if (surface_change_scores_!=nullptr)
+  if (!surface_change_scores_.empty())
     return;
 
   calculateBorderDirections();
@@ -570,8 +570,8 @@ RangeImageBorderExtractor::calculateSurfaceChanges ()
   int width  = range_image_->width,
       height = range_image_->height,
       size   = width*height;
-  surface_change_scores_ = new float[size];
-  surface_change_directions_ = new Eigen::Vector3f[size];
+  surface_change_scores_.resize(size);
+  surface_change_directions_ = std::make_unique<Eigen::Vector3f[]>(size);
 #pragma omp parallel for \
   default(none) \
   shared(height, width) \
@@ -618,7 +618,7 @@ RangeImageBorderExtractor::blurSurfaceChanges ()
   const RangeImage& range_image = *range_image_;
 
   Eigen::Vector3f* blurred_directions = new Eigen::Vector3f[range_image.width*range_image.height];
-  float* blurred_scores = new float[range_image.width*range_image.height];
+  std::vector<float> blurred_scores(range_image.width*range_image.height);
   for (int y=0; y<int(range_image.height); ++y)
   {
     for (int x=0; x<int(range_image.width); ++x)
@@ -664,9 +664,9 @@ RangeImageBorderExtractor::blurSurfaceChanges ()
         new_score /= counter;
     }
   }
-  delete[] surface_change_directions_;
-  surface_change_directions_ = blurred_directions;
-  delete[] surface_change_scores_;
+  surface_change_directions_.reset();
+  surface_change_directions_ = std::unique_ptr<Eigen::Vector3f[]>(std::move(blurred_directions));
+  surface_change_scores_.clear();
   surface_change_scores_ = blurred_scores;
 }