Merge pull request #3 from lnexenl/master

Make MINS working with pcl 1.12 and Eigen 3.4 Note: No notable performance change.
rpng · Oct 11, 2023 · 4e09a0f · 4e09a0f
2 parents 9642045 + 51243a5
commit 4e09a0f
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diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
@@ -0,0 +1,27 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+jobs:
+
+  build-melodic:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile_melodic_18_04 --tag mins:melodic
+
+  build-noetic:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build the Docker image
+      run: docker build . --file Dockerfile_noetic_20_04 --tag mins:noetic
diff --git a/Dockerfile_melodic_18_04 b/Dockerfile_melodic_18_04
@@ -0,0 +1,7 @@
+FROM ros:melodic-perception-bionic
+COPY . /catkin_ws/src/MINS
+RUN apt update && apt install python3-catkin-tools -y
+RUN /bin/bash -c "chmod +x /opt/ros/melodic/setup.sh && source /opt/ros/melodic/setup.sh && catkin build --workspace /catkin_ws"
+
+WORKDIR /catkin_ws
+ENTRYPOINT ["/bin/bash"]
diff --git a/Dockerfile_noetic_20_04 b/Dockerfile_noetic_20_04
@@ -0,0 +1,7 @@
+FROM ros:noetic-perception-focal
+COPY . /catkin_ws/src/MINS
+RUN apt update && apt install python3-catkin-tools -y
+RUN /bin/bash -c "chmod +x /opt/ros/noetic/setup.sh && source /opt/ros/noetic/setup.sh && catkin build --workspace /catkin_ws"
+
+WORKDIR /catkin_ws
+ENTRYPOINT ["/bin/bash"]
diff --git a/mins/CMakeLists.txt b/mins/CMakeLists.txt
@@ -34,13 +34,13 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-sign
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer")
 
 # Find ROS build system
-find_package(catkin REQUIRED COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros libpointmatcher)
+find_package(catkin REQUIRED COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros)
 
 add_definitions(-DROS_AVAILABLE=1)
 
 # Add catkin packages
 catkin_package(
-        CATKIN_DEPENDS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros libpointmatcher
+        CATKIN_DEPENDS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros
         INCLUDE_DIRS src/
         LIBRARIES mins_lib
 )
@@ -127,23 +127,23 @@ install(DIRECTORY src/
 ##################################################
 
 add_executable(simulation src/run_simulation.cpp)
-target_link_libraries(simulation mins_lib ${thirdparty_libraries})
+target_link_libraries(simulation mins_lib)
 install(TARGETS simulation
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         )
 
 add_executable(bag src/run_bag.cpp)
-target_link_libraries(bag mins_lib ${thirdparty_libraries})
+target_link_libraries(bag mins_lib)
 install(TARGETS bag
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
         )
 
 add_executable(subscribe src/run_subscribe.cpp)
-target_link_libraries(subscribe mins_lib ${thirdparty_libraries})
+target_link_libraries(subscribe mins_lib)
 install(TARGETS subscribe
         ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
         LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

diff --git a/mins/src/core/ROSHelper.cpp b/mins/src/core/ROSHelper.cpp
@@ -116,8 +116,8 @@ ov_core::ImuData ROSHelper::Imu2Data(const Imu::ConstPtr &msg) {
   return message;
 }
 
-boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> ROSHelper::rosPC2pclPC(const sensor_msgs::PointCloud2ConstPtr &msg, int id) {
-  boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pcl_pc2(new pcl::PointCloud<pcl::PointXYZ>);
+std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> ROSHelper::rosPC2pclPC(const sensor_msgs::PointCloud2ConstPtr &msg, int id) {
+  std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pcl_pc2(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*msg, *pcl_pc2);
   pcl_pc2->header.frame_id = to_string(id);                 // overwrite the id match with system number
   pcl_pc2->header.stamp = msg->header.stamp.toSec() * 1000; // deliver this in msec

diff --git a/mins/src/core/ROSHelper.h b/mins/src/core/ROSHelper.h
@@ -89,7 +89,7 @@ class ROSHelper {
 
   static GPSData PoseStamped2Data(const geometry_msgs::PoseStampedPtr &msg, int id, double noise);
 
-  static boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> rosPC2pclPC(const sensor_msgs::PointCloud2ConstPtr &msg, int id);
+  static std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> rosPC2pclPC(const sensor_msgs::PointCloud2ConstPtr &msg, int id);
 
   static GPSData NavSatFix2Data(const sensor_msgs::NavSatFixPtr &msg, int id);
 

diff --git a/mins/src/core/ROSPublisher.cpp b/mins/src/core/ROSPublisher.cpp
@@ -419,7 +419,7 @@ void ROSPublisher::publish_vicon(ViconData data) {
   seq_vicon[data.id]++;
 }
 
-void ROSPublisher::publish_lidar_cloud(pcl::PointCloud<pcl::PointXYZ>::Ptr lidar) {
+void ROSPublisher::publish_lidar_cloud(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
   sensor_msgs::PointCloud2 output;
   pcl::toROSMsg(*lidar, output);
   output.header.frame_id = "lidar" + lidar->header.frame_id;
@@ -465,13 +465,15 @@ void ROSPublisher::publish_lidar_map() {
 
     // Publish pointcloud in the global frame
     // This is slower because it requires pointcloud transform
-    pcl::PointCloud<pcl::PointXYZI>::Ptr map_inL(new pcl::PointCloud<pcl::PointXYZI>);
+    POINTCLOUD_XYZI_PTR map_inL(new pcl::PointCloud<pcl::PointXYZI>);
     ikd->tree->flatten(ikd->tree->Root_Node, map_inL->points, NOT_RECORD);
     pair<Matrix3d, Vector3d> pose_LinG = sys->up_ldr->get_pose_LinG(ikd->id, ikd->time);
     Matrix4d tr = Matrix4d::Identity();
     tr.block(0, 0, 3, 3) = pose_LinG.first.transpose();
     tr.block(0, 3, 3, 1) = pose_LinG.second;
-    pcl::PointCloud<pcl::PointXYZI>::Ptr map_inG(new pcl::PointCloud<pcl::PointXYZI>);
+    POINTCLOUD_XYZI_PTR map_inG(new pcl::PointCloud<pcl::PointXYZI>);
+    map_inL->height = map_inL->points.size();
+    map_inL->width = 1;
     pcl::transformPointCloud(*map_inL, *map_inG, tr);
     sensor_msgs::PointCloud2 map_pointcloud;
     pcl::toROSMsg(*map_inG, map_pointcloud);

diff --git a/mins/src/core/ROSPublisher.h b/mins/src/core/ROSPublisher.h
@@ -81,7 +81,7 @@ class ROSPublisher {
   void publish_cam_images(int cam_id);
 
   /// Publish lidar point cloud
-  void publish_lidar_cloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
+  void publish_lidar_cloud(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
 
 private:
   /// Publish the current state

diff --git a/mins/src/core/ROSSubscriber.cpp b/mins/src/core/ROSSubscriber.cpp
@@ -176,7 +176,7 @@ void ROSSubscriber::callback_gnss(const NavSatFixConstPtr &msg, int gps_id) {
 
 void ROSSubscriber::callback_lidar(const PointCloud2ConstPtr &msg, int lidar_id) {
   // convert into correct format & send it to our system
-  boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> data = ROSHelper::rosPC2pclPC(msg, lidar_id);
+  std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> data = ROSHelper::rosPC2pclPC(msg, lidar_id);
   sys->feed_measurement_lidar(data);
   pub->publish_lidar_cloud(data);
 }
diff --git a/mins/src/core/SystemManager.cpp b/mins/src/core/SystemManager.cpp
@@ -174,7 +174,7 @@ void SystemManager::feed_measurement_wheel(const WheelData &wheel) {
   state->initialized ? tc_sensors->dong("WHL") : void();
 }
 
-void SystemManager::feed_measurement_lidar(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
+void SystemManager::feed_measurement_lidar(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
   if (!state->op->lidar->enabled)
     return;
   state->initialized ? tc_sensors->ding("LDR") : void();

diff --git a/mins/src/core/SystemManager.h b/mins/src/core/SystemManager.h
@@ -87,7 +87,7 @@ class SystemManager {
   void feed_measurement_wheel(const WheelData &wheel);
 
   /// LiDAR measurement feeder
-  void feed_measurement_lidar(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
+  void feed_measurement_lidar(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
   /**
    * @brief After the run has ended, print results
    */

diff --git a/mins/src/init/Initializer.cpp b/mins/src/init/Initializer.cpp
@@ -321,7 +321,7 @@ void Initializer::init_lidar_sim() {
     }
 
     // Get the lidar point cloud
-    boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar(new pcl::PointCloud<pcl::PointXYZ>);
+    std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar(new pcl::PointCloud<pcl::PointXYZ>);
     bool success = sim->get_lidar_pointcloud(lidar, sim->timestamp - op->dt.at(i), i, op);
     assert(success);
 

diff --git a/mins/src/options/OptionsIMU.h b/mins/src/options/OptionsIMU.h
@@ -29,6 +29,7 @@
 #define MINS_OPTIONSIMU_H
 
 #include <memory>
+#include <string>
 
 namespace ov_core {
 class YamlParser;

diff --git a/mins/src/options/OptionsInit.h b/mins/src/options/OptionsInit.h
@@ -29,6 +29,7 @@
 #define MINS_OPTIONSINIT_H
 
 #include <memory>
+#include <string>
 namespace ov_core {
 class YamlParser;
 }

diff --git a/mins/src/options/OptionsSystem.h b/mins/src/options/OptionsSystem.h
@@ -22,6 +22,7 @@
 #define MINS_OPTIONSSYSTEM_H
 
 #include <memory>
+#include <string>
 namespace ov_core {
 class YamlParser;
 }

diff --git a/mins/src/run_bag.cpp b/mins/src/run_bag.cpp
@@ -169,7 +169,7 @@ int main(int argc, char **argv) {
     if (op->est->lidar->enabled) {
       for (int lidar_id = 0; lidar_id < op->est->lidar->max_n; lidar_id++) {
         if (msgs.at(i).getTopic() == op->est->lidar->topic.at(lidar_id)) {
-          pcl::PointCloud<pcl::PointXYZ>::Ptr data = ROSHelper::rosPC2pclPC(msgs.at(i).instantiate<sensor_msgs::PointCloud2>(), lidar_id);
+          std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> data = ROSHelper::rosPC2pclPC(msgs.at(i).instantiate<sensor_msgs::PointCloud2>(), lidar_id);
           PRINT1("[BAG] LDR measurement: %.3f|%d|%d\n", (double)data->header.stamp / 1000, lidar_id, data->points.size());
           sys->feed_measurement_lidar(data);
           pub->publish_lidar_cloud(data);
@@ -198,12 +198,6 @@ int main(int argc, char **argv) {
   op->sys->save_timing ? save->save_timing_to_file(sys->tc_sensors->get_total_sum()) : void();
   save->check_files();
 
-  // Call destructor for a cleaner termination
-  sys->~SystemManager();
-  pub->~ROSPublisher();
-  sim_viz->~SimVisualizer();
-  op->~Options();
-  save->~State_Logger();
   ros::shutdown();
 
   // Done!

diff --git a/mins/src/run_simulation.cpp b/mins/src/run_simulation.cpp
@@ -108,7 +108,7 @@ int main(int argc, char **argv) {
     }
 
     // LIDAR: get the next simulated lidar range measurements
-    pcl::PointCloud<pcl::PointXYZ>::Ptr lidar(new pcl::PointCloud<pcl::PointXYZ>);
+    std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar(new pcl::PointCloud<pcl::PointXYZ>);
     if (sim->get_next_lidar(lidar)) {
       sys->feed_measurement_lidar(lidar);
       pub->publish_lidar_cloud(lidar);
@@ -129,13 +129,6 @@ int main(int argc, char **argv) {
   op->sys->save_timing ? save->save_timing_to_file(sys->tc_sensors->get_total_sum()) : void();
   save->check_files();
 
-  // Call destructor for a cleaner termination
-  sys->~SystemManager();
-  sim->~Simulator();
-  pub->~ROSPublisher();
-  sim_viz->~SimVisualizer();
-  op->~Options();
-  save->~State_Logger();
   ros::shutdown();
   return EXIT_SUCCESS;
 }

diff --git a/mins/src/run_subscribe.cpp b/mins/src/run_subscribe.cpp
@@ -80,11 +80,6 @@ int main(int argc, char **argv) {
   op->sys->save_timing ? save->save_timing_to_file(sys->tc_sensors->get_total_sum()) : void();
   save->check_files();
 
-  // Call destructor for a cleaner termination
-  sys->~SystemManager();
-  pub->~ROSPublisher();
-  op->~Options();
-  save->~State_Logger();
   ros::shutdown();
 
   // Done!

diff --git a/mins/src/sim/Simulator.cpp b/mins/src/sim/Simulator.cpp
@@ -718,7 +718,7 @@ bool Simulator::get_next_wheel(WheelData &wheel) {
   return true;
 }
 
-bool Simulator::get_next_lidar(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
+bool Simulator::get_next_lidar(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
 
   // check turn
   string sensor_type;
@@ -739,7 +739,7 @@ bool Simulator::get_next_lidar(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>>
   return true;
 }
 
-bool Simulator::get_lidar_pointcloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar, double time, int id, std::shared_ptr<OptionsLidar> lidar_op) {
+bool Simulator::get_lidar_pointcloud(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar, double time, int id, std::shared_ptr<OptionsLidar> lidar_op) {
   // Lidar id and timestamp
   lidar->header.frame_id = to_string(id);
   lidar->header.stamp = (unsigned long)((time - lidar_op->dt.at(id)) * 1000); // Delivered in micro second

diff --git a/mins/src/sim/Simulator.h b/mins/src/sim/Simulator.h
@@ -123,7 +123,7 @@ class Simulator {
    * @param lidar mins::LidarData
    * @return True if we have a measurement
    */
-  bool get_next_lidar(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
+  bool get_next_lidar(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar);
 
   /// boolean for transforming groundtruth after GPS initialization
   bool trans_gt_to_ENU = false;
@@ -186,7 +186,7 @@ class Simulator {
   bool load_plane_data(std::string path_planes);
 
   /// Generate LiDAR pointcloud
-  bool get_lidar_pointcloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar, double time, int id, std::shared_ptr<OptionsLidar> lidar_op);
+  bool get_lidar_pointcloud(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar, double time, int id, std::shared_ptr<OptionsLidar> lidar_op);
 
   /**
    * @brief Will generate points in the fov of the specified camera

diff --git a/mins/src/update/lidar/LidarHelper.cpp b/mins/src/update/lidar/LidarHelper.cpp
@@ -89,14 +89,14 @@ bool LidarHelper::remove_motion_blur(shared_ptr<State> state, shared_ptr<LiDARDa
 void LidarHelper::downsample(shared_ptr<LiDARData> lidar, double downsample_size) {
   pcl::VoxelGrid<pcl::PointXYZI> downSizeFilter;
   downSizeFilter.setLeafSize((float)downsample_size, (float)downsample_size, (float)downsample_size);
-  downSizeFilter.setInputCloud(lidar->pointcloud);
+  downSizeFilter.setInputCloud((*lidar->pointcloud).makeShared());
   downSizeFilter.filter(*lidar->pointcloud);
 }
 
 void LidarHelper::downsample(POINTCLOUD_XYZI_PTR lidar, double downsample_size) {
   pcl::VoxelGrid<pcl::PointXYZI> downSizeFilter;
   downSizeFilter.setLeafSize((float)downsample_size, (float)downsample_size, (float)downsample_size);
-  downSizeFilter.setInputCloud(lidar);
+  downSizeFilter.setInputCloud((*lidar).makeShared());
   downSizeFilter.filter(*lidar);
 }
 
@@ -154,7 +154,7 @@ bool LidarHelper::transform_to_map(shared_ptr<State> state, shared_ptr<LiDARData
   // Run ICP if we use it to register the map
   //===================================================================
   if (state->op->lidar->map_use_icp) {
-    POINTCLOUD_XYZI_PTR map_pointcloud = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+    POINTCLOUD_XYZI_PTR map_pointcloud = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
     ikd->tree->flatten(ikd->tree->Root_Node, map_pointcloud->points, NOT_RECORD);
     POINTCLOUD_XYZI_PTR new_pointcloud = lidar->pointcloud;
 
@@ -209,7 +209,7 @@ void LidarHelper::register_scan(shared_ptr<State> state, shared_ptr<LiDARData> l
 void LidarHelper::propagate_map_to_newest_clone(shared_ptr<State> state, shared_ptr<iKDDATA> ikd, shared_ptr<OptionsLidar> op, double FT) {
 
   // Load map info
-  POINTCLOUD_XYZI_PTR map_points = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  POINTCLOUD_XYZI_PTR map_points = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
   ikd->tree->flatten(ikd->tree->Root_Node, map_points->points, NOT_RECORD);
   op->map_do_downsample ? downsample(map_points, state->op->lidar->map_downsample_size) : void();
 

diff --git a/mins/src/update/lidar/LidarHelper.h b/mins/src/update/lidar/LidarHelper.h
@@ -31,7 +31,7 @@ class PointXYZ;
 class PointXYZI;
 template <class pointT> class PointCloud;
 } // namespace pcl
-typedef boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> POINTCLOUD_XYZI_PTR;
+typedef std::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> POINTCLOUD_XYZI_PTR;
 template <class pointT> class KD_TREE;
 namespace mins {
 class State;

diff --git a/mins/src/update/lidar/LidarTypes.cpp b/mins/src/update/lidar/LidarTypes.cpp
@@ -23,14 +23,14 @@
 #include "pcl/point_cloud.h"
 
 using namespace mins;
-LiDARData::LiDARData(double time, double ref_time, int id, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pointcloud, double max_range, double min_range) : time(time), id(id) {
+LiDARData::LiDARData(double time, double ref_time, int id, std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pointcloud, double max_range, double min_range) : time(time), id(id) {
   // copy over the point cloud
   // copy measurement time of the point so that it can be filtered with time.
   // Note: we only store relative time to "reference time" because intensity (float) has only 4 bytes
   // Note: this "reference time" should be the same for all other pointclouds.
-  this->pointcloud = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
-  this->pointcloud_original = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
-  this->pointcloud_in_map = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  this->pointcloud = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  this->pointcloud_original = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  this->pointcloud_in_map = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
   this->pointcloud->points.reserve(pointcloud->points.size());
   this->pointcloud_original->points.reserve(pointcloud->points.size());
   for (int i = 0; i < (int)pointcloud->size(); i++) {
@@ -58,9 +58,9 @@ LiDARData::LiDARData(double time, double ref_time, int id, boost::shared_ptr<pcl
 LiDARData::LiDARData() {
   time = -1;
   id = -1;
-  pointcloud = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
-  pointcloud_original = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
-  pointcloud_in_map = boost::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  pointcloud = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  pointcloud_original = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
+  pointcloud_in_map = std::make_shared<pcl::PointCloud<pcl::PointXYZI>>();
 }
 
 Eigen::Vector3d LiDARData::p(int p_id) {

diff --git a/mins/src/update/lidar/LidarTypes.h b/mins/src/update/lidar/LidarTypes.h
@@ -30,12 +30,12 @@ class PointXYZ;
 class PointXYZI;
 template <class pointT> class PointCloud;
 } // namespace pcl
-typedef boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> POINTCLOUD_XYZI_PTR;
+typedef std::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> POINTCLOUD_XYZI_PTR;
 template <class pointT> class KD_TREE;
 
 namespace mins {
 struct LiDARData {
-  LiDARData(double time, double ref_time, int id, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pointcloud, double max_range, double min_range);
+  LiDARData(double time, double ref_time, int id, std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> pointcloud, double max_range, double min_range);
 
   LiDARData();
 

diff --git a/mins/src/update/lidar/UpdaterLidar.cpp b/mins/src/update/lidar/UpdaterLidar.cpp
@@ -47,7 +47,7 @@ UpdaterLidar::UpdaterLidar(shared_ptr<State> state) : state(state) {
   }
 }
 
-void UpdaterLidar::feed_measurement(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
+void UpdaterLidar::feed_measurement(std::shared_ptr<pcl::PointCloud<pcl::PointXYZ>> lidar) {
   // Record first ever measurement time to set up reference time (ref. LidarTypes.h)
   FT < 0 ? FT = (double)lidar->header.stamp / 1000 : double();