From c30d0e5f04c8bdfbc9e1cc2adcafbe8816710019 Mon Sep 17 00:00:00 2001
From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
Date: Wed, 1 Apr 2020 18:20:03 +0200
Subject: [PATCH] Improve for-loops and iterators

---
 .../include/pcl/search/impl/brute_force.hpp   | 26 +++++++++----------
 search/include/pcl/search/organized.h         |  4 +--
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/search/include/pcl/search/impl/brute_force.hpp b/search/include/pcl/search/impl/brute_force.hpp
index f0b82134c8c..6e8442b3e79 100644
--- a/search/include/pcl/search/impl/brute_force.hpp
+++ b/search/include/pcl/search/impl/brute_force.hpp
@@ -77,8 +77,8 @@ pcl::search::BruteForce<PointT>::denseKSearch (
   std::priority_queue<Entry> queue;
   if (indices_)
   {
-    auto iIt =indices_->begin ();
-    auto iEnd = indices_->begin () + std::min (static_cast<unsigned> (k), static_cast<unsigned> (indices_->size ()));
+    auto iIt = indices_->cbegin ();
+    auto iEnd = indices_->cbegin () + std::min (static_cast<unsigned> (k), static_cast<unsigned> (indices_->size ()));
     for (; iIt != iEnd; ++iIt)
       result.push_back (Entry (*iIt, getDistSqr (input_->points[*iIt], point)));
 
@@ -86,7 +86,7 @@ pcl::search::BruteForce<PointT>::denseKSearch (
 
     // add the rest
     Entry entry;
-    for (; iIt != indices_->end (); ++iIt)
+    for (; iIt != indices_->cend (); ++iIt)
     {
       entry.distance = getDistSqr (input_->points[*iIt], point);
       if (queue.top ().distance > entry.distance)
@@ -146,8 +146,8 @@ pcl::search::BruteForce<PointT>::sparseKSearch (
   std::priority_queue<Entry> queue;
   if (indices_)
   {
-    auto iIt =indices_->begin ();
-    for (; iIt != indices_->end () && result.size () < static_cast<unsigned> (k); ++iIt)
+    auto iIt =indices_->cbegin ();
+    for (; iIt != indices_->cend () && result.size () < static_cast<unsigned> (k); ++iIt)
     {
       if (std::isfinite (input_->points[*iIt].x))
         result.push_back (Entry (*iIt, getDistSqr (input_->points[*iIt], point)));
@@ -158,7 +158,7 @@ pcl::search::BruteForce<PointT>::sparseKSearch (
     // either we have k elements, or there are none left to iterate >in either case we're fine
     // add the rest
     Entry entry;
-    for (; iIt != indices_->end (); ++iIt)
+    for (; iIt != indices_->cend (); ++iIt)
     {
       if (!std::isfinite (input_->points[*iIt].x))
         continue;
@@ -235,12 +235,12 @@ pcl::search::BruteForce<PointT>::denseRadiusSearch (
   float distance;
   if (indices_)
   {
-    for (auto iIt =indices_->begin (); iIt != indices_->end (); ++iIt)
+    for (const auto& idx : *indices_)
     {
-      distance = getDistSqr (input_->points[*iIt], point);
+      distance = getDistSqr (input_->points[idx], point);
       if (distance <= radius)
       {
-        k_indices.push_back (*iIt);
+        k_indices.push_back (idx);
         k_sqr_distances.push_back (distance);
         if (k_indices.size () == max_nn) // max_nn = 0 -> never true
           break;
@@ -291,15 +291,15 @@ pcl::search::BruteForce<PointT>::sparseRadiusSearch (
   float distance;
   if (indices_)
   {
-    for (auto iIt =indices_->begin (); iIt != indices_->end (); ++iIt)
+    for (const auto& idx : *indices_)
     {
-      if (!std::isfinite (input_->points[*iIt].x))
+      if (!std::isfinite (input_->points[idx].x))
         continue;
 
-      distance = getDistSqr (input_->points[*iIt], point);
+      distance = getDistSqr (input_->points[idx], point);
       if (distance <= radius)
       {
-        k_indices.push_back (*iIt);
+        k_indices.push_back (idx);
         k_sqr_distances.push_back (distance);
         if (k_indices.size () == max_nn) // never true if max_nn = 0
           break;
diff --git a/search/include/pcl/search/organized.h b/search/include/pcl/search/organized.h
index 6e0dc0bd365..a6d40bbf220 100644
--- a/search/include/pcl/search/organized.h
+++ b/search/include/pcl/search/organized.h
@@ -136,8 +136,8 @@ namespace pcl
           if (indices_ && !indices_->empty())
           {
             mask_.assign (input_->size (), 0);
-            for (auto iIt = indices_->begin (); iIt != indices_->end (); ++iIt)
-              mask_[*iIt] = 1;
+            for (const auto& idx : *indices_)
+              mask_[idx] = 1;
           }
           else
             mask_.assign (input_->size (), 1);