From 73ecc027fd145b2436316c595e15e479610fd722 Mon Sep 17 00:00:00 2001
From: Kunal Tyagi <tyagi.kunal@live.com>
Date: Tue, 12 May 2020 18:45:46 +0900
Subject: [PATCH] Remove use of dynamic allocation in favor of local variable

---
 common/src/gaussian.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/common/src/gaussian.cpp b/common/src/gaussian.cpp
index 0125cf0bdd9..2ba325d7078 100644
--- a/common/src/gaussian.cpp
+++ b/common/src/gaussian.cpp
@@ -138,7 +138,7 @@ pcl::GaussianKernel::convolveRows (const pcl::PointCloud<float>& input,
   assert (kernel.size () % 2 == 1);
   std::size_t kernel_width = kernel.size () -1;
   std::size_t radius = kernel.size () / 2;
-  std::unique_ptr<const pcl::PointCloud<float>> copied_input;
+  pcl::PointCloud<float> copied_input;
   const pcl::PointCloud<float>* unaliased_input;
   if (&input != &output)
   {
@@ -152,8 +152,8 @@ pcl::GaussianKernel::convolveRows (const pcl::PointCloud<float>& input,
   }
   else
   {
-    copied_input = std::make_unique<pcl::PointCloud<float>>(input);
-    unaliased_input = copied_input.get();
+    copied_input = input;
+    unaliased_input = &copied_input;
   }
   
   std::size_t i;
@@ -182,7 +182,7 @@ pcl::GaussianKernel::convolveCols (const pcl::PointCloud<float>& input,
   assert (kernel.size () % 2 == 1);
   std::size_t kernel_width = kernel.size () -1;
   std::size_t radius = kernel.size () / 2;
-  std::unique_ptr<const pcl::PointCloud<float>> copied_input;
+  pcl::PointCloud<float> copied_input;
   const pcl::PointCloud<float>* unaliased_input;
   if (&input != &output)
   {
@@ -196,8 +196,8 @@ pcl::GaussianKernel::convolveCols (const pcl::PointCloud<float>& input,
   }
   else
   {
-    copied_input = std::make_unique<pcl::PointCloud<float>>(input);
-    unaliased_input = copied_input.get();
+    copied_input = input;
+    unaliased_input = &copied_input;
   }
 
   std::size_t j;