Fix too small loop variables (#2829)

Fix issues reported by run-clang-tidy -header-filter='.*' -checks='-*,bugprone-too-small-loop-variable'

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

@@ -150,7 +150,7 @@ namespace pcl
       cloud_out.height = 1;
       cloud_out.is_dense = false;
 
-      for (int i = 0; i < points->GetNumberOfPoints (); i++)
+      for (vtkIdType i = 0; i < points->GetNumberOfPoints (); i++)
       {
         double p[3];
         points->GetPoint (i, p);

apps/cloud_composer/src/point_selectors/selection_event.cpp

@@ -52,7 +52,7 @@ pcl::cloud_composer::SelectionEvent::findIndicesInItem (CloudItem* cloud_item, p
     vtkIdTypeArray* point_ids  = vtkIdTypeArray::SafeDownCast(points_in_item->GetPointData ()->GetArray ("vtkIdFilter_Ids"));
 
     indices->indices.resize (point_ids->GetNumberOfTuples ());
-    for(int i =0; i < point_ids->GetNumberOfTuples (); ++i)
+    for(vtkIdType i =0; i < point_ids->GetNumberOfTuples (); ++i)
     {
     //qDebug () << "id="<<point_ids->GetValue (i);
       indices->indices[i] = point_ids->GetValue (i);

apps/in_hand_scanner/src/integration.cpp

@@ -213,7 +213,7 @@ pcl::ihs::Integration::merge (const CloudXYZRGBNormalConstPtr& cloud_data,
   // Nearest neighbor search
   CloudXYZPtr xyz_model (new CloudXYZ ());
   xyz_model->reserve (mesh_model->sizeVertices ());
-  for (unsigned int i=0; i<mesh_model->sizeVertices (); ++i)
+  for (size_t i=0; i<mesh_model->sizeVertices (); ++i)
   {
     const PointIHS& pt = mesh_model->getVertexDataCloud () [i];
     xyz_model->push_back (PointXYZ (pt.x, pt.y, pt.z));
@@ -388,7 +388,7 @@ pcl::ihs::Integration::merge (const CloudXYZRGBNormalConstPtr& cloud_data,
 void
 pcl::ihs::Integration::age (const MeshPtr& mesh, const bool cleanup) const
 {
-  for (unsigned int i=0; i<mesh->sizeVertices (); ++i)
+  for (size_t i=0; i<mesh->sizeVertices (); ++i)
   {
     PointIHS& pt = mesh->getVertexDataCloud () [i];
     if (pt.age < max_age_)
@@ -422,7 +422,7 @@ pcl::ihs::Integration::age (const MeshPtr& mesh, const bool cleanup) const
 void
 pcl::ihs::Integration::removeUnfitVertices (const MeshPtr& mesh, const bool cleanup) const
 {
-  for (unsigned int i=0; i<mesh->sizeVertices (); ++i)
+  for (size_t i=0; i<mesh->sizeVertices (); ++i)
   {
     if (pcl::ihs::countDirections (mesh->getVertexDataCloud () [i].directions) < min_directions_)
     {

apps/in_hand_scanner/src/offline_integration.cpp

@@ -146,7 +146,7 @@ pcl::ihs::OfflineIntegration::computationThread ()
     return;
   }
 
-  for (unsigned int i=1; i<filenames.size (); ++i)
+  for (size_t i=1; i<filenames.size (); ++i)
   {
     std::cerr << "Processing file " << std::setw (5) << i+1 << " / " << filenames.size () << std::endl;
 

apps/in_hand_scanner/src/opengl_viewer.cpp

@@ -91,7 +91,7 @@ pcl::ihs::detail::FaceVertexMesh::FaceVertexMesh (const Mesh& mesh, const Eigen:
   triangles.reserve (mesh.sizeFaces ());
   pcl::ihs::detail::FaceVertexMesh::Triangle triangle;
 
-  for (unsigned int i=0; i<mesh.sizeFaces (); ++i)
+  for (size_t i=0; i<mesh.sizeFaces (); ++i)
   {
     Mesh::VertexAroundFaceCirculator circ = mesh.getVertexAroundFaceCirculator (Mesh::FaceIndex (i));
     triangle.first  = (circ++).getTargetIndex ().get ();
@@ -932,7 +932,7 @@ pcl::ihs::OpenGLViewer::drawMeshes ()
         }
         case COL_VISCONF:
         {
-          for (unsigned int i=0; i<mesh.vertices.size (); ++i)
+          for (size_t i=0; i<mesh.vertices.size (); ++i)
           {
             const unsigned int n = pcl::ihs::countDirections (mesh.vertices [i].directions);
             const unsigned int index = static_cast <unsigned int> (

apps/in_hand_scanner/src/visibility_confidence.cpp

@@ -74,7 +74,7 @@ pcl::ihs::Dome::Dome ()
   vertices_.col (29) = Eigen::Vector4f (-0.187592626f, -0.577350378f, 0.794654489f, 0.f);
   vertices_.col (30) = Eigen::Vector4f ( 0.491123348f, -0.356822133f, 0.794654548f, 0.f);
 
-  for (unsigned int i=0; i<vertices_.cols (); ++i)
+  for (Eigen::Index i=0; i < vertices_.cols (); ++i)
   {
     vertices_.col (i).head <3> ().normalize ();
   }

apps/point_cloud_editor/src/cloud.cpp

@@ -418,7 +418,7 @@ Cloud::getDisplaySpacePoint (unsigned int index) const
 void
 Cloud::getDisplaySpacePoints (Point3DVector& pts) const
 {
-  for(unsigned int i = 0; i < cloud_.size(); ++i)
+  for(size_t i = 0; i < cloud_.size(); ++i)
     pts.push_back(getDisplaySpacePoint(i));
 }
 
@@ -464,7 +464,7 @@ Cloud::updateCloudMembers ()
   float *pt = &(cloud_.points[0].data[X]);
   std::copy(pt, pt+XYZ_SIZE, max_xyz_);
   std::copy(max_xyz_, max_xyz_+XYZ_SIZE, min_xyz_);
-  for (unsigned int i = 1; i < cloud_.size(); ++i)
+  for (size_t i = 1; i < cloud_.size(); ++i)
   {
     for (unsigned int j = 0; j < XYZ_SIZE; ++j)
     {

apps/point_cloud_editor/src/cloudEditorWidget.cpp

@@ -573,7 +573,7 @@ CloudEditorWidget::isColored (const std::string &fileName) const
   pcl::PCDReader reader;
   reader.readHeader(fileName, cloud2);
   std::vector< pcl::PCLPointField > fs = cloud2.fields;
-  for(unsigned int i = 0; i < fs.size(); ++i)
+  for(size_t i = 0; i < fs.size(); ++i)
   {
     std::string name(fs[i].name);
     stringToLower(name);

apps/point_cloud_editor/src/select2DTool.cpp

@@ -96,7 +96,7 @@ Select2DTool::end (int x, int y, BitMask modifiers, BitMask)
 
   Point3DVector ptsvec;
   cloud_ptr_->getDisplaySpacePoints(ptsvec);
-  for(unsigned int i = 0; i < ptsvec.size(); ++i)
+  for(size_t i = 0; i < ptsvec.size(); ++i)
   {
     Point3D pt = ptsvec[i];
     if (isInSelectBox(pt, project, viewport))

apps/src/convolve.cpp

@@ -71,7 +71,7 @@ main (int argc, char ** argv)
   Eigen::ArrayXf gaussian_kernel(5);
   gaussian_kernel << 1.f/16, 1.f/4, 3.f/8, 1.f/4, 1.f/16;
   pcl::console::print_info ("convolution kernel:");
-  for (int i = 0; i < gaussian_kernel.size (); ++i)
+  for (Eigen::Index i = 0; i < gaussian_kernel.size (); ++i)
     pcl::console::print_info (" %f", gaussian_kernel[i]);
   pcl::console::print_info ("\n");
 

apps/src/feature_matching.cpp

@@ -298,12 +298,12 @@ void ICCVTutorial<FeatureType>::filterCorrespondences ()
 {
   cout << "correspondence rejection..." << std::flush;
   std::vector<std::pair<unsigned, unsigned> > correspondences;
-  for (unsigned cIdx = 0; cIdx < source2target_.size (); ++cIdx)
+  for (size_t cIdx = 0; cIdx < source2target_.size (); ++cIdx)
     if (target2source_[source2target_[cIdx]] == static_cast<int> (cIdx))
       correspondences.push_back(std::make_pair(cIdx, source2target_[cIdx]));
 
   correspondences_->resize (correspondences.size());
-  for (unsigned cIdx = 0; cIdx < correspondences.size(); ++cIdx)
+  for (size_t cIdx = 0; cIdx < correspondences.size(); ++cIdx)
   {
     (*correspondences_)[cIdx].index_query = correspondences[cIdx].first;
     (*correspondences_)[cIdx].index_match = correspondences[cIdx].second;

apps/src/nn_classification_example.cpp

@@ -80,7 +80,7 @@ main (int, char* argv[])
   }
 
   // Print results
-  for (unsigned i = 0; i < result->first.size(); ++i)
+  for (size_t i = 0; i < result->first.size(); ++i)
     std::cerr << result->first.at (i) << ": " << result->second.at (i) << std::endl;
 
   return 0;

apps/src/pcd_organized_multi_plane_segmentation.cpp

@@ -186,7 +186,7 @@ class PCDOrganizedMultiPlaneSegmentation
 
 //        sprintf (name, "approx_plane_%02d", int (i));
 //        viewer.addPolygon<PointT> (approx_contour_const, 0.5 * red[i], 0.5 * grn[i], 0.5 * blu[i], name);
-        for (unsigned idx = 0; idx < approx_contour->points.size (); ++idx)
+        for (size_t idx = 0; idx < approx_contour->points.size (); ++idx)
         {
           sprintf (name, "approx_plane_%02d_%03d", int (i), int(idx));
           viewer.addLine (approx_contour->points [idx], approx_contour->points [(idx+1)%approx_contour->points.size ()], 0.5 * red[i], 0.5 * grn[i], 0.5 * blu[i], name);

apps/src/render_views_tesselated_sphere.cpp

@@ -134,7 +134,7 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() {
   else
   {
     cam_positions.resize (sphere->GetNumberOfPoints ());
-    for (int i = 0; i < sphere->GetNumberOfPoints (); i++)
+    for (vtkIdType i = 0; i < sphere->GetNumberOfPoints (); i++)
     {
       double cam_pos[3];
       sphere->GetPoint (i, cam_pos);
@@ -382,7 +382,7 @@ pcl::apps::RenderViewsTesselatedSphere::generateViews() {
       vtkSmartPointer<vtkIdTypeArray> ids = vtkSmartPointer<vtkIdTypeArray>::New ();
       ids = vtkIdTypeArray::SafeDownCast(hdw_selection->GetNode(0)->GetSelectionList());
       double visible_area = 0;
-      for (int sel_id = 0; sel_id < (ids->GetNumberOfTuples ()); sel_id++)
+      for (vtkIdType sel_id = 0; sel_id < (ids->GetNumberOfTuples ()); sel_id++)
       {
         int id_mesh = int (ids->GetValue (sel_id));
         if(id_mesh >= polydata->GetNumberOfPolys())

apps/src/test_search.cpp

@@ -44,7 +44,7 @@ main (int argc, char ** argv)
   else
   {
     cloud->resize (1000000);
-    for (unsigned idx = 0; idx < cloud->size (); ++idx)
+    for (size_t idx = 0; idx < cloud->size (); ++idx)
     {
       (*cloud)[idx].x = static_cast<float> (rand () / RAND_MAX);
       (*cloud)[idx].y = static_cast<float> (rand () / RAND_MAX);
@@ -125,7 +125,7 @@ main (int argc, char ** argv)
   else
   {
     cerr << "size of result: " <<kd_indices.size () << endl;
-    for (unsigned idx = 0; idx < kd_indices.size (); ++idx)
+    for (size_t idx = 0; idx < kd_indices.size (); ++idx)
     {
       if (kd_indices[idx] != bf_indices[idx] && kd_distances[idx] != bf_distances[idx])
       {

common/src/range_image.cpp

@@ -345,7 +345,7 @@ RangeImage::getIntegralImage (float*& integral_image, int*& valid_points_num_ima
 void 
 RangeImage::setUnseenToMaxRange ()
 {
-  for (unsigned int i=0; i<points.size (); ++i)
+  for (size_t i=0; i < points.size (); ++i)
     if (std::isinf (points[i].range))
       points[i].range = std::numeric_limits<float>::infinity ();
 }
@@ -443,7 +443,7 @@ RangeImage::getMinMaxRanges (float& min_range, float& max_range) const
 {
   min_range = std::numeric_limits<float>::infinity ();
   max_range = -std::numeric_limits<float>::infinity ();
-  for (unsigned int i=0; i<points.size (); ++i)
+  for (size_t i=0; i < points.size (); ++i)
   {
     float range = points[i].range;
     if (!std::isfinite (range))

examples/geometry/example_half_edge_mesh.cpp

@@ -97,7 +97,7 @@ void
 printVertices (const Mesh& mesh)
 {
   std::cout << "Vertices:\n   ";
-  for (unsigned int i=0; i<mesh.sizeVertices (); ++i)
+  for (size_t i=0; i<mesh.sizeVertices (); ++i)
   {
     std::cout << mesh.getVertexDataCloud () [i] << " ";
   }
@@ -132,7 +132,7 @@ void
 printFaces (const Mesh& mesh)
 {
   std::cout << "Faces:\n";
-  for (unsigned int i=0; i<mesh.sizeFaces (); ++i)
+  for (size_t i=0; i<mesh.sizeFaces (); ++i)
   {
     printFace (mesh, FaceIndex (i));
   }

examples/segmentation/example_supervoxels.cpp

@@ -501,7 +501,7 @@ addSupervoxelConnectionsToViewer (PointT &supervoxel_center,
   // Add the points to the dataset
   polyData->SetPoints (points);
   polyLine->GetPointIds  ()->SetNumberOfIds(points->GetNumberOfPoints ());
-  for(unsigned int i = 0; i < points->GetNumberOfPoints (); i++)
+  for(vtkIdType i = 0; i < points->GetNumberOfPoints (); i++)
     polyLine->GetPointIds ()->SetId (i,i);
   cells->InsertNextCell (polyLine);
   // Add the lines to the dataset

examples/surface/example_nurbs_fitting_closed_curve.cpp

@@ -14,7 +14,7 @@ pcl::visualization::PCLVisualizer viewer ("Curve Fitting PDM (red), SDM (green),
 void
 PointCloud2Vector2d (pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, pcl::on_nurbs::vector_vec2d &data)
 {
-  for (unsigned i = 0; i < cloud->size (); i++)
+  for (size_t i = 0; i < cloud->size (); i++)
   {
     pcl::PointXYZ &p = cloud->at (i);
     if (!std::isnan (p.x) && !std::isnan (p.y))

examples/surface/example_nurbs_fitting_closed_curve3d.cpp

@@ -12,7 +12,7 @@ pcl::visualization::PCLVisualizer viewer ("Curve Fitting 3D");
 void
 PointCloud2Vector2d (pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
 {
-  for (unsigned i = 0; i < cloud->size (); i++)
+  for (size_t i = 0; i < cloud->size (); i++)
   {
     pcl::PointXYZ &p = cloud->at (i);
     if (!std::isnan (p.x) && !std::isnan (p.y) && !std::isnan (p.z))

examples/surface/example_nurbs_fitting_curve2d.cpp

@@ -12,7 +12,7 @@ pcl::visualization::PCLVisualizer viewer ("Curve Fitting 2D");
 void
 PointCloud2Vector2d (pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, pcl::on_nurbs::vector_vec2d &data)
 {
-  for (unsigned i = 0; i < cloud->size (); i++)
+  for (size_t i = 0; i < cloud->size (); i++)
   {
     pcl::PointXYZ &p = cloud->at (i);
     if (!std::isnan (p.x) && !std::isnan (p.y))
@@ -26,7 +26,7 @@ VisualizeCurve (ON_NurbsCurve &curve, double r, double g, double b, bool show_cp
   pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
   pcl::on_nurbs::Triangulation::convertCurve2PointCloud (curve, cloud, 8);
 
-  for (std::size_t i = 0; i < cloud->size () - 1; i++)
+  for (size_t i = 0; i < cloud->size () - 1; i++)
   {
     pcl::PointXYZRGB &p1 = cloud->at (i);
     pcl::PointXYZRGB &p2 = cloud->at (i + 1);

examples/surface/example_nurbs_fitting_surface.cpp

@@ -171,7 +171,7 @@ main (int argc, char *argv[])
 void
 PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
 {
-  for (unsigned i = 0; i < cloud->size (); i++)
+  for (size_t i = 0; i < cloud->size (); i++)
   {
     Point &p = cloud->at (i);
     if (!std::isnan (p.x) && !std::isnan (p.y) && !std::isnan (p.z))

features/include/pcl/features/impl/fpfh.hpp

@@ -250,7 +250,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
     {
       if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
       {
-        for (int d = 0; d < fpfh_histogram_.size (); ++d)
+        for (size_t d = 0; d < fpfh_histogram_.size (); ++d)
           output.points[idx].histogram[d] = std::numeric_limits<float>::quiet_NaN ();
 
         output.is_dense = false;
@@ -266,7 +266,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
       weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
 
       // ...and copy it into the output cloud
-      for (int d = 0; d < fpfh_histogram_.size (); ++d)
+      for (size_t d = 0; d < fpfh_histogram_.size (); ++d)
         output.points[idx].histogram[d] = fpfh_histogram_[d];
     }
   }
@@ -278,7 +278,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
       if (!isFinite ((*input_)[(*indices_)[idx]]) ||
           this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
       {
-        for (int d = 0; d < fpfh_histogram_.size (); ++d)
+        for (size_t d = 0; d < fpfh_histogram_.size (); ++d)
           output.points[idx].histogram[d] = std::numeric_limits<float>::quiet_NaN ();
 
         output.is_dense = false;
@@ -294,7 +294,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
       weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
 
       // ...and copy it into the output cloud
-      for (int d = 0; d < fpfh_histogram_.size (); ++d)
+      for (size_t d = 0; d < fpfh_histogram_.size (); ++d)
         output.points[idx].histogram[d] = fpfh_histogram_[d];
     }
   }

features/include/pcl/features/impl/grsd.hpp

@@ -102,7 +102,7 @@ pcl::GRSDEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
   {
     int source_type = types[idx];
     std::vector<int> neighbors = grid.getNeighborCentroidIndices (cloud_downsampled->points[idx], relative_coordinates_all_);
-    for (unsigned id_n = 0; id_n < neighbors.size (); id_n++)
+    for (size_t id_n = 0; id_n < neighbors.size (); id_n++)
     {
       int neighbor_type;
       if (neighbors[id_n] == -1) // empty

features/include/pcl/features/impl/intensity_spin.hpp

@@ -161,9 +161,9 @@ pcl::IntensitySpinEstimation<PointInT, PointOutT>::computeFeature (PointCloudOut
     computeIntensitySpinImage (*surface_, static_cast<float> (search_radius_), sigma_, k, nn_indices, nn_dist_sqr, intensity_spin_image);
 
     // Copy into the resultant cloud
-    int bin = 0;
-    for (int bin_j = 0; bin_j < intensity_spin_image.cols (); ++bin_j)
-      for (int bin_i = 0; bin_i < intensity_spin_image.rows (); ++bin_i)
+    size_t bin = 0;
+    for (Eigen::Index bin_j = 0; bin_j < intensity_spin_image.cols (); ++bin_j)
+      for (Eigen::Index bin_i = 0; bin_i < intensity_spin_image.rows (); ++bin_i)
         output.points[idx].histogram[bin++] = intensity_spin_image (bin_i, bin_j);
   }
 }

features/include/pcl/features/impl/normal_based_signature.hpp

@@ -143,10 +143,10 @@ pcl::NormalBasedSignatureEstimation<PointT, PointNT, PointFeature>::computeFeatu
 
       // do DCT on the s_matrix row-wise
       Eigen::VectorXf dct_row (M_);
-      for (int m = 0; m < s_row.size (); ++m)
+      for (Eigen::Index m = 0; m < s_row.size (); ++m)
       {
         float Xk = 0.0f;
-        for (int n = 0; n < s_row.size (); ++n)
+        for (Eigen::Index n = 0; n < s_row.size (); ++n)
           Xk += static_cast<float> (s_row[n] * cos (M_PI / (static_cast<double> (M_ * n) + 0.5) * static_cast<double> (k)));
         dct_row[m] = Xk;
       }

features/include/pcl/features/impl/organized_edge_detection.hpp

@@ -70,7 +70,7 @@ pcl::OrganizedEdgeBase<PointT, PointLT>::assignLabelIndices (pcl::PointCloud<Poi
 {
   const unsigned invalid_label = unsigned (0);
   label_indices.resize (num_of_edgetype_);
-  for (unsigned idx = 0; idx < input_->points.size (); idx++)
+  for (size_t idx = 0; idx < input_->points.size (); idx++)
   {
     if (labels[idx].label != invalid_label)
     {