Fixed most variableScope hints by CppCheck 1.86. Includes additional …

…fixes, which are not detected by CppCheck (variableScope check seems to ignore loops and HPP files)

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

@@ -128,13 +128,12 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       first_nn_category_ = flann_models_[indices_scores[0].idx_models_].first.class_;
 
       std::map<std::string, int> category_map;
-      std::map<std::string, int>::iterator it;
       int num_n = std::min (NN_, static_cast<int> (indices_scores.size ()));
 
       for (int i = 0; i < num_n; ++i)
       {
         std::string cat = flann_models_[indices_scores[i].idx_models_].first.class_;
-        it = category_map.find (cat);
+        auto it = category_map.find (cat);
         if (it == category_map.end ())
         {
           category_map[cat] = 1;
@@ -145,7 +144,7 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
         }
       }
 
-      for (it = category_map.begin (); it != category_map.end (); it++)
+      for (auto it = category_map.cbegin (); it != category_map.cend (); it++)
       {
         float prob = static_cast<float> (it->second) / static_cast<float> (num_n);
         categories_.push_back (it->first);

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

@@ -190,14 +190,12 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
     //single categories...
     if (use_single_categories_)
     {
-      std::map<std::string, boost::shared_ptr<std::vector<int> > >::iterator it;
-
       single_categories_data_.resize (single_categories.size ());
       single_categories_index_.resize (single_categories.size ());
       single_categories_pointers_to_models_.resize (single_categories.size ());
 
       int kk = 0;
-      for (it = single_categories.begin (); it != single_categories.end (); it++)
+      for (auto it = single_categories.begin (); it != single_categories.end (); it++)
       {
         //create index and flann data
         convertToFLANN (flann_models_, it->second, single_categories_data_[kk]);

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

@@ -298,13 +298,9 @@ template<template<class > class Distance, typename PointInT, typename FeatureT>
       }
     }
 
-    typename std::map<std::string, ObjectHypothesis>::iterator it_map;
-
-    std::vector<float> feature_distance_avg;
-
     {
       //pcl::ScopeTime t("Geometric verification, RANSAC and transform estimation");
-      for (it_map = object_hypotheses.begin (); it_map != object_hypotheses.end (); it_map++)
+      for (auto it_map = object_hypotheses.cbegin (); it_map != object_hypotheses.cend (); it_map++)
       {
         std::vector < pcl::Correspondences > corresp_clusters;
         cg_algorithm_->setSceneCloud (keypoints_pointcloud);

apps/cloud_composer/src/items/cloud_item.cpp

@@ -113,10 +113,8 @@ pcl::cloud_composer::CloudItem::setTemplateCloudFromBlob ()
 {
   if (! template_cloud_set_ )
   {
-    std::vector<pcl::PCLPointField>::iterator end = cloud_blob_ptr_->fields.end ();
-    std::vector<pcl::PCLPointField>::iterator itr = cloud_blob_ptr_->fields.begin ();
     QStringList field_names;
-    for ( itr = cloud_blob_ptr_->fields.begin ()  ; itr != end; ++itr)
+    for (auto itr = cloud_blob_ptr_->fields.cbegin (), end = cloud_blob_ptr_->fields.cend (); itr != end; ++itr)
     {
       field_names.append (QString::fromStdString ( itr->name ));
     }

apps/cloud_composer/src/point_selectors/rectangular_frustum_selector.cpp

@@ -47,12 +47,10 @@ pcl::cloud_composer::RectangularFrustumSelector::OnLeftButtonUp ()
 
   vtkSmartPointer<vtkAppendPolyData> append = vtkAppendPolyData::New ();
 
-  pcl::visualization::CloudActorMap::iterator it;
-  it = actors_->begin ();
   QMap < QString, vtkPolyData* > id_selected_data_map;
-  for (it = actors_->begin (); it != actors_->end (); ++it)
+  for (auto it = actors_->cbegin (); it != actors_->cend (); ++it)
   {
-        pcl::visualization::CloudActor *act = &(*it).second;
+        const pcl::visualization::CloudActor *act = &(*it).second;
         vtkMapper* mapper = act->actor->GetMapper ();
         vtkDataSet* data = mapper->GetInput ();
         vtkPolyData* poly_data = vtkPolyData::SafeDownCast (data);

apps/cloud_composer/src/point_selectors/selected_trackball_interactor_style.cpp

@@ -36,8 +36,7 @@ pcl::cloud_composer::SelectedTrackballStyleInteractor::setSelectedActors ()
       selected_cloud_ids.append (cloud_item->getId ());
   }
 
-  pcl::visualization::CloudActorMap::iterator it;
-  for (it = actors_->begin (); it != actors_->end (); ++it)
+  for (auto it = actors_->cbegin (); it != actors_->cend (); ++it)
   {
     QString id = QString::fromStdString (it->first);
     if (selected_cloud_ids.contains (id))

apps/cloud_composer/src/signal_multiplexer.cpp

@@ -109,11 +109,10 @@ pcl::cloud_composer::SignalMultiplexer::setCurrentObject (QObject* newObject)
   if (newObject == object)
     return;
 
-  QList<Connection>::ConstIterator it;
-  for (it = connections.begin (); it != connections.end (); ++it)
+  for (auto it = connections.cbegin (); it != connections.cend (); ++it)
     disconnect (*it);
   object = newObject;
-  for (it = connections.begin (); it != connections.end (); ++it)
+  for (auto it = connections.cbegin (); it != connections.cend (); ++it)
     connect (*it);
 
   ProjectModel* model = dynamic_cast<ProjectModel*> (newObject);

apps/in_hand_scanner/src/icp.cpp

@@ -404,8 +404,7 @@ pcl::ihs::ICP::selectDataPoints (const CloudXYZRGBNormalConstPtr& cloud_data) co
   const CloudNormalPtr cloud_data_out (new CloudNormal ());
   cloud_data_out->reserve (cloud_data->size ());
 
-  CloudXYZRGBNormal::const_iterator it_in = cloud_data->begin ();
-  for (; it_in!=cloud_data->end (); ++it_in)
+  for (auto it_in = cloud_data->begin (); it_in!=cloud_data->end (); ++it_in)
   {
     if (!boost::math::isnan (it_in->x))
     {
@@ -500,7 +499,6 @@ pcl::ihs::ICP::minimizePointPlane (const CloudNormal& cloud_source,
   Vec4Xf::const_iterator it_nor_t = nor_t.begin ();
 
   Eigen::Vector4f cross;
-  float dot;
   for (; it_xyz_s!=xyz_s.end (); ++it_xyz_s, ++it_xyz_t, ++it_nor_t)
   {
     cross    = it_xyz_s->cross3 (*it_nor_t);
@@ -509,7 +507,7 @@ pcl::ihs::ICP::minimizePointPlane (const CloudNormal& cloud_source,
     C_tr_bl += cross     * it_nor_t->transpose ();
     C_br    += *it_nor_t * it_nor_t->transpose ();
 
-    dot      = (*it_xyz_t-*it_xyz_s).dot (*it_nor_t);
+    float dot = (*it_xyz_t-*it_xyz_s).dot (*it_nor_t);
 
     b_t     += cross     * dot;
     b_b     += *it_nor_t * dot;

apps/in_hand_scanner/src/input_data_processing.cpp

@@ -234,7 +234,6 @@ pcl::ihs::InputDataProcessing::calculateNormals (const CloudXYZRGBAConstPtr& clo
   cloud_out->height   = cloud_in->height;
   cloud_out->is_dense = false;
 
-  CloudXYZRGBA::const_iterator it_in  = cloud_in->begin ();
   CloudNormals::const_iterator it_n   = cloud_normals->begin ();
   CloudXYZRGBNormal::iterator  it_out = cloud_out->begin ();
 
@@ -244,7 +243,7 @@ pcl::ihs::InputDataProcessing::calculateNormals (const CloudXYZRGBAConstPtr& clo
   invalid_pt.data   [3] = 1.f;
   invalid_pt.data_n [3] = 0.f;
 
-  for (; it_in!=cloud_in->end (); ++it_in, ++it_n, ++it_out)
+  for (auto it_in = cloud_in->begin (); it_in!=cloud_in->end (); ++it_in, ++it_n, ++it_out)
   {
     if (!boost::math::isnan (it_n->getNormalVector4fMap ()))
     {

apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp

@@ -514,9 +514,8 @@ pcl::apps::DominantPlaneSegmentation<PointType>::compute_fast (std::vector<Cloud
 
   clusters.resize (clusters_map.size ());
 
-  std::map<float, pcl::PointIndices>::iterator it_indices;
   int k = 0;
-  for (it_indices = clusters_map.begin (); it_indices != clusters_map.end (); it_indices++)
+  for (auto it_indices = clusters_map.cbegin (); it_indices != clusters_map.cend (); it_indices++)
   {
 
     if (int ((*it_indices).second.indices.size ()) >= object_cluster_min_size_)

apps/point_cloud_editor/src/cloud.cpp

@@ -193,9 +193,8 @@ Cloud::setSelection (SelectionPtr selection_ptr)
   partitioned_indices_.resize(cloud_.size());
   std::generate(partitioned_indices_.begin(), partitioned_indices_.end(), inc);
   unsigned int pos = 0;
-  Selection::const_iterator it;
   // assumes selection is sorted small to large
-  for (it = selection_ptr->begin(); it != selection_ptr->end(); ++it, ++pos)
+  for (auto it = selection_ptr->begin(); it != selection_ptr->end(); ++it, ++pos)
   {
     std::swap(partitioned_indices_[pos], partitioned_indices_[*it]);
   }
@@ -330,8 +329,7 @@ void
 Cloud::remove(const Selection& selection)
 {
   unsigned int pos = cloud_.size();
-  Selection::const_reverse_iterator rit;
-  for (rit = selection.rbegin(); rit != selection.rend(); ++rit)
+  for (auto rit = selection.rbegin(); rit != selection.rend(); ++rit)
     std::swap(cloud_.points[--pos], cloud_.points[*rit]);
   resize(cloud_.size()-selection.size());
 }
@@ -442,8 +440,7 @@ Cloud::restore (const CopyBuffer& copy_buffer, const Selection& selection)
 
   append(copied_cloud);
   unsigned int pos = cloud_.size();
-  Selection::const_reverse_iterator rit;
-  for (rit = selection.rbegin(); rit != selection.rend(); ++rit)
+  for (auto rit = selection.rbegin(); rit != selection.rend(); ++rit)
     std::swap(cloud_.points[--pos], cloud_.points[*rit]);
 }
 

apps/point_cloud_editor/src/copyBuffer.cpp

@@ -60,8 +60,7 @@ CopyBuffer::set (ConstCloudPtr cloud_ptr, const Selection& selection)
   clean();
   if (!cloud_ptr)
       return;
-  Selection::const_iterator s_it;
-  for(s_it = selection.begin(); s_it != selection.end(); ++s_it)
+  for(auto s_it = selection.begin(); s_it != selection.end(); ++s_it)
     buffer_.append( (*cloud_ptr)[*s_it] );
 }
 

apps/point_cloud_editor/src/denoiseCommand.cpp

@@ -61,8 +61,7 @@ DenoiseCommand::execute ()
   filter.filter(temp_cloud);
   // back up the removed indices.
   pcl::IndicesConstPtr indices_ptr = filter.getRemovedIndices();
-  std::vector<int>::const_iterator it;
-  for(it = indices_ptr->begin(); it != indices_ptr->end(); ++it)
+  for(auto it = indices_ptr->cbegin(); it != indices_ptr->cend(); ++it)
     removed_indices_.addIndex(static_cast<unsigned int>(*it));
   // back up the removed points.
   removed_points_.set(cloud_ptr_, removed_indices_);

apps/point_cloud_editor/src/selection.cpp

@@ -72,8 +72,7 @@ Selection::addIndex (const IndexVector &indices)
 void
 Selection::removeIndex (const IndexVector &indices)
 {
-  IndexVector::const_iterator it;
-  for(it = indices.begin(); it != indices.end(); ++it)
+  for(auto it = indices.cbegin(); it != indices.cend(); ++it)
     removeIndex(*it);
 }
 

apps/point_cloud_editor/src/statistics.cpp

@@ -45,8 +45,7 @@ std::string
 Statistics::getStats()
 {
   std::string result;
-  std::vector<Statistics*>::const_iterator stat_vec_it;
-  for(stat_vec_it = stat_vec_.begin(); stat_vec_it != stat_vec_.end(); ++stat_vec_it)
+  for(auto stat_vec_it = stat_vec_.cbegin(); stat_vec_it != stat_vec_.cend(); ++stat_vec_it)
   {
     std::string stat_string = (*stat_vec_it) -> getStat();
     if (stat_string != "")

apps/point_cloud_editor/src/transformCommand.cpp

@@ -76,18 +76,16 @@ TransformCommand::undo()
     return;
   float transform_matrix_inv[MATRIX_SIZE];
   invertMatrix(transform_matrix_, transform_matrix_inv);
-  float x,y,z;
-  unsigned int index = 0;
-  Selection::const_iterator it;
-  for(it = internal_selection_ptr_ -> begin();
+  for(auto it = internal_selection_ptr_ -> begin();
       it != internal_selection_ptr_-> end(); ++it)
   {
     Point3D pt;
-    index = *it;
+    unsigned int index = *it;
     pt.x = (*cloud_ptr_)[index].x - cloud_center_[X];
     pt.y = (*cloud_ptr_)[index].y - cloud_center_[Y];
     pt.z = (*cloud_ptr_)[index].z - cloud_center_[Z];
 
+    float x,y,z;
     x = pt.x * cloud_matrix_[0] +
         pt.y * cloud_matrix_[4] +
         pt.z * cloud_matrix_[8] + cloud_matrix_[12];
@@ -131,14 +129,13 @@ TransformCommand::undo()
 void
 TransformCommand::applyTransform(ConstSelectionPtr sel_ptr)
 {
-  float x,y,z;
-  unsigned int index = 0;
   // now modify the selected points' coordinates
-  Selection::const_iterator it;
-  for(it = sel_ptr -> begin(); it != sel_ptr-> end(); ++it)
+  for(auto it = sel_ptr -> begin(); it != sel_ptr-> end(); ++it)
   {
-    index = *it;
+    unsigned int index = *it;
     Point3D pt = cloud_ptr_->getObjectSpacePoint(index);
+
+    float x,y,z;
     x = pt.x * transform_matrix_[0] +
         pt.y * transform_matrix_[4] +
         pt.z * transform_matrix_[8] + transform_matrix_[12];

apps/src/ni_trajkovic.cpp

@@ -147,7 +147,6 @@ class TrajkovicDemo
 
         if (cloud)
         {
-          int w (cloud->width);
           if (!cloud_init)
           {
             cloud_viewer_.setPosition (0, 0);
@@ -179,8 +178,8 @@ class TrajkovicDemo
                  id != keypoints_indices_->indices.end ();
                  ++id)
             {
-              int u (*id % w);
-              int v (*id / w);
+              int u (*id % cloud->width);
+              int v (*id / cloud->width);
               image_viewer_.markPoint (u, v, visualization::red_color, visualization::blue_color, 5, getStrBool (!keypts), 0.5);
             }
             keypts = !keypts;

apps/src/openni_color_filter.cpp

@@ -187,11 +187,11 @@ main (int argc, char ** argv)
   unsigned char red = 0, green = 0, blue = 0;
   int rr, gg, bb;
   unsigned char radius = 442; // all colors!
-  int rad;
 
   if (pcl::console::parse_3x_arguments (argc, argv, "-rgb", rr, gg, bb, true) != -1 )
   {
     cout << "-rgb present" << endl;
+    int rad;
     int idx = pcl::console::parse_argument (argc, argv, "-radius", rad);
     if (idx != -1)
     {

apps/src/openni_grab_images.cpp

@@ -122,14 +122,14 @@ class OpenNIGrabFrame
       depth_image.swap (depth_image_);
       image_mutex_.unlock ();
 
-      static unsigned char* rgb_data = 0;
-      static unsigned rgb_data_size = 0;
-
       if (image)
       {
         const void* data;
         if (image->getEncoding() != openni_wrapper::Image::RGB)
         {
+          static unsigned char* rgb_data = 0;
+          static unsigned rgb_data_size = 0;
+
           if (rgb_data_size < image->getWidth () * image->getHeight ())
           {
             if (rgb_data)

apps/src/openni_organized_edge_detection.cpp

@@ -98,9 +98,9 @@ class OpenNIOrganizedEdgeDetection
     void
     keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
     {
-      double opacity;
       if (event.keyUp())
       {
+        double opacity;
         switch (event.getKeyCode())
         {
         case '1':

apps/src/openni_shift_to_depth_conversion.cpp

@@ -158,11 +158,8 @@ class SimpleOpenNIViewer
            float focalLength_arg,
            pcl::PointCloud<PointXYZRGB>& cloud_arg) const
   {
-    size_t i;
     size_t cloud_size = width_arg * height_arg;
 
-    int x, y, centerX, centerY;
-
     // Reset point cloud
     cloud_arg.points.clear ();
     cloud_arg.points.reserve (cloud_size);
@@ -173,15 +170,15 @@ class SimpleOpenNIViewer
     cloud_arg.is_dense = false;
 
     // Calculate center of disparity image
-    centerX = static_cast<int> (width_arg / 2);
-    centerY = static_cast<int> (height_arg / 2);
+    int centerX = static_cast<int> (width_arg / 2);
+    int centerY = static_cast<int> (height_arg / 2);
 
     const float fl_const = 1.0f / focalLength_arg;
     static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
 
-    i = 0;
-    for (y = -centerY; y < +centerY; ++y)
-      for (x = -centerX; x < +centerX; ++x)
+    size_t i = 0;
+    for (int y = -centerY; y < +centerY; ++y)
+      for (int x = -centerX; x < +centerX; ++x)
       {
         PointXYZRGB newPoint;
 

apps/src/pcd_organized_edge_detection.cpp

@@ -103,9 +103,9 @@ saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)
 void 
 keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
 {
-  double opacity;
   if (event.keyUp())
   {
+    double opacity;
     switch (event.getKeyCode())
     {
       case '1':