From 11d24d0e97169bd2fd2714fba1d4ac2dcdc87628 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Tue, 23 Jul 2013 13:32:50 -0700
Subject: [PATCH] Initialize shared pointers before use

Should address runtime errors reported in #29
---
 pcl_ros/include/pcl_ros/filters/extract_indices.h             | 2 +-
 pcl_ros/include/pcl_ros/filters/passthrough.h                 | 2 +-
 pcl_ros/include/pcl_ros/filters/project_inliers.h             | 4 ++--
 pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h      | 2 +-
 pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h | 4 ++--
 pcl_ros/src/pcl_ros/filters/voxel_grid.cpp                    | 2 +-
 6 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/pcl_ros/include/pcl_ros/filters/extract_indices.h b/pcl_ros/include/pcl_ros/filters/extract_indices.h
index cdb60e8f..1ae0d1a9 100644
--- a/pcl_ros/include/pcl_ros/filters/extract_indices.h
+++ b/pcl_ros/include/pcl_ros/filters/extract_indices.h
@@ -66,7 +66,7 @@ namespace pcl_ros
               PointCloud2 &output)
       {
         boost::mutex::scoped_lock lock (mutex_);
-        pcl::PCLPointCloud2::Ptr pcl_input;
+        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
         pcl_conversions::toPCL(*(input), *(pcl_input));
         impl_.setInputCloud (pcl_input);
         impl_.setIndices (indices);
diff --git a/pcl_ros/include/pcl_ros/filters/passthrough.h b/pcl_ros/include/pcl_ros/filters/passthrough.h
index 7d6c9649..4dad5f2d 100644
--- a/pcl_ros/include/pcl_ros/filters/passthrough.h
+++ b/pcl_ros/include/pcl_ros/filters/passthrough.h
@@ -64,7 +64,7 @@ namespace pcl_ros
               PointCloud2 &output)
       {
         boost::mutex::scoped_lock lock (mutex_);
-        pcl::PCLPointCloud2::Ptr pcl_input;
+        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
         pcl_conversions::toPCL (*(input), *(pcl_input));
         impl_.setInputCloud (pcl_input);
         impl_.setIndices (indices);
diff --git a/pcl_ros/include/pcl_ros/filters/project_inliers.h b/pcl_ros/include/pcl_ros/filters/project_inliers.h
index 636291fe..8002bcd2 100644
--- a/pcl_ros/include/pcl_ros/filters/project_inliers.h
+++ b/pcl_ros/include/pcl_ros/filters/project_inliers.h
@@ -68,11 +68,11 @@ namespace pcl_ros
       filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
               PointCloud2 &output)
       {
-        pcl::PCLPointCloud2::Ptr pcl_input;
+        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
         pcl_conversions::toPCL (*(input), *(pcl_input));
         impl_.setInputCloud (pcl_input);
         impl_.setIndices (indices);
-        pcl::ModelCoefficients::Ptr pcl_model;
+        pcl::ModelCoefficients::Ptr pcl_model(new pcl::ModelCoefficients);
         pcl_conversions::toPCL(*(model_), *(pcl_model));
         impl_.setModelCoefficients (pcl_model);
         pcl::PCLPointCloud2 pcl_output;
diff --git a/pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h b/pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h
index 38babf0c..cb75eaee 100644
--- a/pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h
+++ b/pcl_ros/include/pcl_ros/filters/radius_outlier_removal.h
@@ -61,7 +61,7 @@ namespace pcl_ros
       filter (const PointCloud2::ConstPtr &input, const IndicesPtr &indices, 
               PointCloud2 &output)
       {
-        pcl::PCLPointCloud2::Ptr pcl_input;
+        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
         pcl_conversions::toPCL (*(input), *(pcl_input));
         impl_.setInputCloud (pcl_input);
         impl_.setIndices (indices);
diff --git a/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h b/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h
index 22ed8b82..b3d17e35 100644
--- a/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h
+++ b/pcl_ros/include/pcl_ros/filters/statistical_outlier_removal.h
@@ -58,7 +58,7 @@ namespace pcl_ros
     * \note setFilterFieldName (), setFilterLimits (), and setFilterLimitNegative () are ignored.
     * \author Radu Bogdan Rusu
     */
-  class StatisticalOutlierRemoval : public Filter                                    
+  class StatisticalOutlierRemoval : public Filter
   {
     protected:
       /** \brief Pointer to a dynamic reconfigure service. */
@@ -74,7 +74,7 @@ namespace pcl_ros
               PointCloud2 &output)
       {
         boost::mutex::scoped_lock lock (mutex_);
-        pcl::PCLPointCloud2::Ptr pcl_input;
+        pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
         pcl_conversions::toPCL(*(input), *(pcl_input));
         impl_.setInputCloud (pcl_input);
         impl_.setIndices (indices);
diff --git a/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp b/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
index 6405b3f4..db718d5b 100644
--- a/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
+++ b/pcl_ros/src/pcl_ros/filters/voxel_grid.cpp
@@ -58,7 +58,7 @@ pcl_ros::VoxelGrid::filter (const PointCloud2::ConstPtr &input,
                             PointCloud2 &output)
 {
   boost::mutex::scoped_lock lock (mutex_);
-  pcl::PCLPointCloud2::Ptr pcl_input;
+  pcl::PCLPointCloud2::Ptr pcl_input(new pcl::PCLPointCloud2);
   pcl_conversions::toPCL (*(input), *(pcl_input));
   impl_.setInputCloud (pcl_input);
   impl_.setIndices (indices);