Add more bugprone-* clang-tidy checks, Part B

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/source.h

@@ -51,8 +51,7 @@ class Model {
     if (resolution <= 0)
       return assembled_;
 
-    typename std::map<float, PointTPtrConst>::iterator it =
-        voxelized_assembled_.find(resolution);
+    auto it = voxelized_assembled_.find(resolution);
     if (it == voxelized_assembled_.end()) {
       PointTPtr voxelized(new pcl::PointCloud<PointT>);
       pcl::VoxelGrid<PointT> grid_;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -22,11 +22,7 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::getP
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -22,11 +22,7 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::get
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp

@@ -460,11 +460,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::g
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;
@@ -489,8 +485,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::
 
   if (use_cache_) {
     std::pair<std::string, int> pair_model_view = std::make_pair(model.id_, view_id);
-    typename std::map<std::pair<std::string, int>, PointInTPtr>::iterator it =
-        keypoints_cache_.find(pair_model_view);
+    auto it = keypoints_cache_.find(pair_model_view);
 
     if (it != keypoints_cache_.end()) {
       keypoints_cloud = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h

@@ -195,7 +195,7 @@ class PCL_EXPORTS LocalRecognitionPipeline {
   }
 
 public:
-  LocalRecognitionPipeline() : search_model_("")
+  LocalRecognitionPipeline()
   {
     use_cache_ = false;
     threshold_accept_model_hypothesis_ = 0.2f;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/tools/openni_frame_source.h

@@ -31,9 +31,9 @@ class PCL_EXPORTS OpenNIFrameSource {
 
   pcl::OpenNIGrabber grabber_;
   PointCloudPtr most_recent_frame_;
-  int frame_counter_;
+  int frame_counter_{0};
   std::mutex mutex_;
-  bool active_;
+  bool active_{true};
 };
 
 } // namespace OpenNIFrameSource

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h

@@ -54,7 +54,7 @@ writeMatrixToFile(const std::string& file, Eigen::Matrix4f& matrix)
   for (std::size_t i = 0; i < 4; i++) {
     for (std::size_t j = 0; j < 4; j++) {
       out << matrix(i, j);
-      if (!(i == 3 && j == 3))
+      if (i != 3 || j != 3)
         out << " ";
     }
   }

apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp

@@ -102,7 +102,7 @@ recognizeAndVisualize(
     for (std::size_t i = 0; i < files.size(); i++) {
       std::cout << files[i] << std::endl;
       if (scene != -1)
-        if ((std::size_t)scene != i)
+        if (static_cast<std::size_t>(scene) != i)
           continue;
 
       const std::string file = ply_files_dir.string() + files[i];

apps/3d_rec_framework/src/tools/openni_frame_source.cpp

@@ -4,8 +4,7 @@
 
 namespace OpenNIFrameSource {
 
-OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id)
-: grabber_(device_id), frame_counter_(0), active_(true)
+OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id) : grabber_(device_id)
 {
   std::function<void(const PointCloudConstPtr&)> frame_cb =
       [this](const PointCloudConstPtr& cloud) { onNewFrame(cloud); };

apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h

@@ -54,7 +54,7 @@ class CloudCommand : public QUndoCommand {
 public:
   CloudCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
-  ~CloudCommand();
+  ~CloudCommand() override;
 
   virtual bool
   runCommand(AbstractTool* tool) = 0;
@@ -112,8 +112,8 @@ class CloudCommand : public QUndoCommand {
   bool
   canUseTemplates(ConstItemList& input_data);
 
-  bool can_use_templates_;
-  int template_type_;
+  bool can_use_templates_{false};
+  int template_type_{-1};
 };
 
 class ModifyItemCommand : public CloudCommand {

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/cloud_item.hpp

@@ -68,7 +68,7 @@ pcl::cloud_composer::CloudItem::createCloudItemFromTemplate(
 {
   pcl::PCLPointCloud2::Ptr cloud_blob = pcl::make_shared<pcl::PCLPointCloud2>();
   toPCLPointCloud2(*cloud_ptr, *cloud_blob);
-  CloudItem* cloud_item =
+  auto* cloud_item =
       new CloudItem(name, cloud_blob, Eigen::Vector4f(), Eigen::Quaternionf(), false);
   cloud_item->setData(QVariant::fromValue(cloud_ptr), ItemDataRole::CLOUD_TEMPLATED);
   cloud_item->setPointType<PointT>();

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/merge_selection.hpp

@@ -74,9 +74,8 @@ pcl::cloud_composer::MergeSelection::performTemplatedAction(
     input_cloud_item->printNumPoints<PointT>();
     // If this cloud hasn't been completely selected
     if (!input_data.contains(input_cloud_item)) {
-      typename PointCloud<PointT>::Ptr input_cloud =
-          input_cloud_item->data(ItemDataRole::CLOUD_TEMPLATED)
-              .value<typename PointCloud<PointT>::Ptr>();
+      auto input_cloud = input_cloud_item->data(ItemDataRole::CLOUD_TEMPLATED)
+                             .value<typename PointCloud<PointT>::Ptr>();
       qDebug() << "Extracting "
                << selected_item_index_map_.value(input_cloud_item)->indices.size()
                << " points out of " << input_cloud->width;
@@ -102,9 +101,8 @@ pcl::cloud_composer::MergeSelection::performTemplatedAction(
   }
   // Just concatenate for all fully selected clouds
   foreach (const CloudComposerItem* input_item, input_data) {
-    typename PointCloud<PointT>::Ptr input_cloud =
-        input_item->data(ItemDataRole::CLOUD_TEMPLATED)
-            .value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = input_item->data(ItemDataRole::CLOUD_TEMPLATED)
+                           .value<typename PointCloud<PointT>::Ptr>();
     *merged_cloud += *input_cloud;
   }
   CloudItem* cloud_item = CloudItem::createCloudItemFromTemplate<PointT>(

apps/cloud_composer/include/pcl/apps/cloud_composer/impl/transform_clouds.hpp

@@ -68,8 +68,7 @@ pcl::cloud_composer::TransformClouds::performTemplatedAction(
   foreach (const CloudComposerItem* input_item, input_data) {
     qDebug() << "Transforming cloud " << input_item->getId();
     QVariant variant = input_item->data(ItemDataRole::CLOUD_TEMPLATED);
-    typename PointCloud<PointT>::Ptr input_cloud =
-        variant.value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = variant.value<typename PointCloud<PointT>::Ptr>();
 
     Eigen::Matrix4f transform;
     if (transform_map_.contains("AllSelectedClouds"))

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_composer_item.h

@@ -73,7 +73,7 @@ class CloudComposerItem : public QStandardItem {
 
   CloudComposerItem(const QString& name = "default item");
   CloudComposerItem(const CloudComposerItem& to_copy);
-  ~CloudComposerItem();
+  ~CloudComposerItem() override;
 
   inline int
   type() const override

apps/cloud_composer/include/pcl/apps/cloud_composer/items/cloud_item.h

@@ -149,15 +149,15 @@ class CloudItem : public CloudComposerItem {
   Eigen::Vector4f origin_;
   Eigen::Quaternionf orientation_;
 
-  bool template_cloud_set_;
+  bool template_cloud_set_{false};
 
   // Internal Storage of the templated type of this cloud
-  int point_type_;
+  int point_type_{PointTypeFlags::NONE};
 
   bool
   checkIfFinite();
 
-  bool is_sanitized_;
+  bool is_sanitized_{false};
 
   // Helper functions which set the point_type_ based on the current point type
   template <typename PointT>

apps/cloud_composer/include/pcl/apps/cloud_composer/point_selectors/manipulation_event.h

@@ -45,7 +45,7 @@ namespace cloud_composer {
 class ManipulationEvent {
 
 public:
-  ManipulationEvent() {}
+  ManipulationEvent() = default;
 
   void
   addManipulation(const QString& id,

apps/cloud_composer/include/pcl/apps/cloud_composer/project_model.h

@@ -66,7 +66,7 @@ class ProjectModel : public QStandardItemModel {
 public:
   ProjectModel(QObject* parent = nullptr);
   ProjectModel(const ProjectModel& to_copy);
-  ~ProjectModel();
+  ~ProjectModel() override;
 
   ProjectModel(QString project_name, QObject* parent = nullptr);
 

apps/cloud_composer/include/pcl/apps/cloud_composer/tool_interface/abstract_tool.h

@@ -51,7 +51,7 @@ class AbstractTool : public QObject {
 public:
   AbstractTool(PropertiesModel* parameter_model, QObject* parent);
 
-  ~AbstractTool() { qDebug() << "Tool Destructed"; }
+  ~AbstractTool() override { qDebug() << "Tool Destructed"; }
 
   /**  \brief Function called which does work in plugin
    *  \param data input_data from the model - const for good reason

apps/cloud_composer/include/pcl/apps/cloud_composer/toolbox_model.h

@@ -114,7 +114,7 @@ public Q_SLOTS:
   QItemSelectionModel* selection_model_;
   QSet<QStandardItem*> tool_items;
 
-  ProjectModel* project_model_;
+  ProjectModel* project_model_{nullptr};
 };
 } // namespace cloud_composer
 } // namespace pcl

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/euclidean_clustering.h

@@ -99,7 +99,7 @@ class EuclideanClusteringToolFactory : public QObject, public ToolFactory {
   inline QList<CloudComposerItem::ItemType>
   getRequiredInputChildrenTypes() const override
   {
-    return QList<CloudComposerItem::ItemType>();
+    return {};
   }
 };
 

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/organized_segmentation.hpp

@@ -66,8 +66,7 @@ pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction(
                     "item! (input list)";
       return output;
     }
-    typename PointCloud<PointT>::Ptr input_cloud =
-        variant.value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = variant.value<typename PointCloud<PointT>::Ptr>();
     if (!input_cloud->isOrganized()) {
       qCritical() << "Organized Segmentation requires an organized cloud!";
       return output;
@@ -89,14 +88,12 @@ pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction(
         input_item->getChildren(CloudComposerItem::NORMALS_ITEM);
     // Get the normals cloud, we just use the first normals that were found if there are
     // more than one
-    pcl::PointCloud<pcl::Normal>::ConstPtr input_normals =
-        normals_list.value(0)
-            ->data(ItemDataRole::CLOUD_TEMPLATED)
-            .value<pcl::PointCloud<pcl::Normal>::ConstPtr>();
+    auto input_normals = normals_list.value(0)
+                             ->data(ItemDataRole::CLOUD_TEMPLATED)
+                             .value<pcl::PointCloud<pcl::Normal>::ConstPtr>();
 
     QVariant variant = input_item->data(ItemDataRole::CLOUD_TEMPLATED);
-    typename PointCloud<PointT>::Ptr input_cloud =
-        variant.value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = variant.value<typename PointCloud<PointT>::Ptr>();
 
     pcl::OrganizedMultiPlaneSegmentation<PointT, pcl::Normal, pcl::Label> mps;
     mps.setMinInliers(min_inliers);
@@ -121,7 +118,7 @@ pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction(
 
     auto plane_labels = pcl::make_shared<std::set<std::uint32_t>>();
     for (std::size_t i = 0; i < label_indices.size(); ++i)
-      if (label_indices[i].indices.size() > (std::size_t)min_plane_size)
+      if (label_indices[i].indices.size() > static_cast<std::size_t>(min_plane_size))
         plane_labels->insert(i);
     typename PointCloud<PointT>::CloudVectorType clusters;
 
@@ -143,7 +140,8 @@ pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction(
 
     pcl::IndicesPtr extracted_indices(new pcl::Indices());
     for (std::size_t i = 0; i < euclidean_label_indices.size(); i++) {
-      if (euclidean_label_indices[i].indices.size() >= (std::size_t)min_cluster_size) {
+      if (euclidean_label_indices[i].indices.size() >=
+          static_cast<std::size_t>(min_cluster_size)) {
         typename PointCloud<PointT>::Ptr cluster(new PointCloud<PointT>);
         pcl::copyPointCloud(*input_cloud, euclidean_label_indices[i].indices, *cluster);
         qDebug() << "Found cluster with size " << cluster->width;
@@ -158,7 +156,7 @@ pcl::cloud_composer::OrganizedSegmentationTool::performTemplatedAction(
     }
 
     for (std::size_t i = 0; i < label_indices.size(); i++) {
-      if (label_indices[i].indices.size() >= (std::size_t)min_plane_size) {
+      if (label_indices[i].indices.size() >= static_cast<std::size_t>(min_plane_size)) {
         typename PointCloud<PointT>::Ptr plane(new PointCloud<PointT>);
         pcl::copyPointCloud(*input_cloud, label_indices[i].indices, *plane);
         qDebug() << "Found plane with size " << plane->width;

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/impl/supervoxels.hpp

@@ -64,15 +64,13 @@ pcl::cloud_composer::SupervoxelsTool::performTemplatedAction(
                     "item! (input list)";
       return output;
     }
-    typename PointCloud<PointT>::Ptr input_cloud =
-        variant.value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = variant.value<typename PointCloud<PointT>::Ptr>();
     // TODO: Check if Voxelized
   }
 
   foreach (const CloudComposerItem* input_item, input_data) {
     QVariant variant = input_item->data(ItemDataRole::CLOUD_TEMPLATED);
-    typename PointCloud<PointT>::Ptr input_cloud =
-        variant.value<typename PointCloud<PointT>::Ptr>();
+    auto input_cloud = variant.value<typename PointCloud<PointT>::Ptr>();
 
     float resolution = parameter_model_->getProperty("Resolution").toFloat();
     qDebug() << "Octree resolution = " << resolution;

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/normal_estimation.h

@@ -99,7 +99,7 @@ class NormalEstimationToolFactory : public QObject, public ToolFactory {
   inline QList<CloudComposerItem::ItemType>
   getRequiredInputChildrenTypes() const override
   {
-    return QList<CloudComposerItem::ItemType>();
+    return {};
   }
 };
 

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/sanitize_cloud.h

@@ -99,7 +99,7 @@ class SanitizeCloudToolFactory : public QObject, public ToolFactory {
   inline QList<CloudComposerItem::ItemType>
   getRequiredInputChildrenTypes() const override
   {
-    return QList<CloudComposerItem::ItemType>();
+    return {};
   }
 };
 

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/statistical_outlier_removal.h

@@ -99,7 +99,7 @@ class StatisticalOutlierRemovalToolFactory : public QObject, public ToolFactory
   inline QList<CloudComposerItem::ItemType>
   getRequiredInputChildrenTypes() const override
   {
-    return QList<CloudComposerItem::ItemType>();
+    return {};
   }
 };
 

apps/cloud_composer/include/pcl/apps/cloud_composer/tools/voxel_grid_downsample.h

@@ -99,7 +99,7 @@ class VoxelGridDownsampleToolFactory : public QObject, public ToolFactory {
   inline QList<CloudComposerItem::ItemType>
   getRequiredInputChildrenTypes() const override
   {
-    return QList<CloudComposerItem::ItemType>();
+    return {};
   }
 };
 

apps/cloud_composer/src/cloud_view.cpp

@@ -105,7 +105,7 @@ void
 pcl::cloud_composer::CloudView::itemChanged (QStandardItem* changed_item)
 {
   qDebug () << "Item Changed - Redrawing!";
-  CloudComposerItem* item = dynamic_cast<CloudComposerItem*> (changed_item);
+  auto* item = dynamic_cast<CloudComposerItem*> (changed_item);
   if (item)
   {
     item->paintView (vis_);
@@ -127,7 +127,7 @@ pcl::cloud_composer::CloudView::rowsInserted (const QModelIndex& parent, int sta
   for (int row = start; row <= end; ++row)
   {
     QStandardItem* new_item = parent_item->child(row);
-    CloudComposerItem* item = dynamic_cast<CloudComposerItem*> (new_item);
+    auto* item = dynamic_cast<CloudComposerItem*> (new_item);
     if (item)
       item->paintView (vis_);
 
@@ -155,7 +155,7 @@ pcl::cloud_composer::CloudView::rowsAboutToBeRemoved (const QModelIndex& parent,
     QStandardItem* item_to_remove = parent_item->child(row);
     if (item_to_remove)
       qDebug () << "Removing "<<item_to_remove->text ();
-    CloudComposerItem* item = dynamic_cast<CloudComposerItem*> (item_to_remove);
+    auto* item = dynamic_cast<CloudComposerItem*> (item_to_remove);
     if (item )
       item->removeFromView (vis_);
 

apps/cloud_composer/src/cloud_viewer.cpp

@@ -13,7 +13,7 @@ pcl::cloud_composer::CloudViewer::CloudViewer(QWidget* parent) : QTabWidget(pare
 void
 pcl::cloud_composer::CloudViewer::addModel(ProjectModel* new_model)
 {
-  CloudView* new_view = new CloudView(new_model);
+  auto* new_view = new CloudView(new_model);
   connect(new_model->getSelectionModel(),
           SIGNAL(selectionChanged(QItemSelection, QItemSelection)),
           new_view,