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Use nullptr in module gpu #3011

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merged 2 commits into from
Apr 22, 2019
Merged

Use nullptr in module gpu #3011

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da12a5c
Changes are done by run-clang-tidy -header-filter='.*' -checks='-*,mo…
Apr 18, 2019
5599aa6
Revert changes in last commit, where values of type cudaStream_t were…
Apr 19, 2019
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2 changes: 1 addition & 1 deletion gpu/containers/include/pcl/gpu/containers/kernel_containers.h
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Expand Up @@ -55,7 +55,7 @@ namespace pcl

T* data;

__PCL_GPU_HOST_DEVICE__ DevPtr() : data(0) {}
__PCL_GPU_HOST_DEVICE__ DevPtr() : data(nullptr) {}
__PCL_GPU_HOST_DEVICE__ DevPtr(T* data_arg) : data(data_arg) {}

__PCL_GPU_HOST_DEVICE__ size_t elemSize() const { return elem_size; }
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20 changes: 10 additions & 10 deletions gpu/containers/src/device_memory.cpp
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Expand Up @@ -95,9 +95,9 @@ bool pcl::gpu::DeviceMemory2D::empty() const { throw_nogpu(); }

//////////////////////// DeviceArray /////////////////////////////

pcl::gpu::DeviceMemory::DeviceMemory() : data_(0), sizeBytes_(0), refcount_(0) {}
pcl::gpu::DeviceMemory::DeviceMemory(void *ptr_arg, size_t sizeBytes_arg) : data_(ptr_arg), sizeBytes_(sizeBytes_arg), refcount_(0){}
pcl::gpu::DeviceMemory::DeviceMemory(size_t sizeBtes_arg) : data_(0), sizeBytes_(0), refcount_(0) { create(sizeBtes_arg); }
pcl::gpu::DeviceMemory::DeviceMemory() : data_(nullptr), sizeBytes_(0), refcount_(nullptr) {}
pcl::gpu::DeviceMemory::DeviceMemory(void *ptr_arg, size_t sizeBytes_arg) : data_(ptr_arg), sizeBytes_(sizeBytes_arg), refcount_(nullptr){}
pcl::gpu::DeviceMemory::DeviceMemory(size_t sizeBtes_arg) : data_(nullptr), sizeBytes_(0), refcount_(nullptr) { create(sizeBtes_arg); }
pcl::gpu::DeviceMemory::~DeviceMemory() { release(); }

pcl::gpu::DeviceMemory::DeviceMemory(const DeviceMemory& other_arg)
Expand Down Expand Up @@ -162,9 +162,9 @@ void pcl::gpu::DeviceMemory::release()
delete refcount_;
cudaSafeCall( cudaFree(data_) );
}
data_ = 0;
data_ = nullptr;
sizeBytes_ = 0;
refcount_ = 0;
refcount_ = nullptr;
}

void pcl::gpu::DeviceMemory::upload(const void *host_ptr_arg, size_t sizeBytes_arg)
Expand Down Expand Up @@ -193,16 +193,16 @@ size_t pcl::gpu::DeviceMemory::sizeBytes() const { return sizeBytes_; }

//////////////////////// DeviceArray2D /////////////////////////////

pcl::gpu::DeviceMemory2D::DeviceMemory2D() : data_(0), step_(0), colsBytes_(0), rows_(0), refcount_(0) {}
pcl::gpu::DeviceMemory2D::DeviceMemory2D() : data_(nullptr), step_(0), colsBytes_(0), rows_(0), refcount_(nullptr) {}

pcl::gpu::DeviceMemory2D::DeviceMemory2D(int rows_arg, int colsBytes_arg)
: data_(0), step_(0), colsBytes_(0), rows_(0), refcount_(0)
: data_(nullptr), step_(0), colsBytes_(0), rows_(0), refcount_(nullptr)
{
create(rows_arg, colsBytes_arg);
}

pcl::gpu::DeviceMemory2D::DeviceMemory2D(int rows_arg, int colsBytes_arg, void *data_arg, size_t step_arg)
: data_(data_arg), step_(step_arg), colsBytes_(colsBytes_arg), rows_(rows_arg), refcount_(0) {}
: data_(data_arg), step_(step_arg), colsBytes_(colsBytes_arg), rows_(rows_arg), refcount_(nullptr) {}

pcl::gpu::DeviceMemory2D::~DeviceMemory2D() { release(); }

Expand Down Expand Up @@ -264,9 +264,9 @@ void pcl::gpu::DeviceMemory2D::release()

colsBytes_ = 0;
rows_ = 0;
data_ = 0;
data_ = nullptr;
step_ = 0;
refcount_ = 0;
refcount_ = nullptr;
}

void pcl::gpu::DeviceMemory2D::copyTo(DeviceMemory2D& other) const
Expand Down
2 changes: 1 addition & 1 deletion gpu/containers/src/initialization.cpp
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Expand Up @@ -152,7 +152,7 @@ void pcl::gpu::printCudaDeviceInfo(int device)
"Prohibited (no host thread can use ::cudaSetDevice() with this device)",
"Exclusive Process (many threads in one process is able to use ::cudaSetDevice() with this device)",
"Unknown",
NULL
nullptr
};

for(int dev = beg; dev < end; ++dev)
Expand Down
2 changes: 1 addition & 1 deletion gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
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Expand Up @@ -146,7 +146,7 @@ namespace pcl
* \param hint
* \return true if can render 3D view.
*/
bool operator() (const DepthMap& depth, Eigen::Affine3f* hint=NULL);
bool operator() (const DepthMap& depth, Eigen::Affine3f* hint=nullptr);

/** \brief Processes next frame (both depth and color integration). Please call initColorIntegration before invpoking this.
* \param[in] depth next depth frame with values in millimeters
Expand Down
4 changes: 2 additions & 2 deletions gpu/kinfu/tools/capture.cpp
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Expand Up @@ -114,7 +114,7 @@ pcl::gpu::CaptureOpenNI::open (int device)
}

xn::NodeInfoList devicesList;
rc = impl_->context.EnumerateProductionTrees ( XN_NODE_TYPE_DEVICE, NULL, devicesList, 0 );
rc = impl_->context.EnumerateProductionTrees ( XN_NODE_TYPE_DEVICE, nullptr, devicesList, nullptr );
if (rc != XN_STATUS_OK)
{
sprintf (impl_->strError, "Init failed: %s\n", xnGetStatusString (rc));
Expand Down Expand Up @@ -276,7 +276,7 @@ pcl::gpu::CaptureOpenNI::grab (PtrStepSz<const unsigned short>& depth, PtrStepSz
else
{
printf ("no image\n");
rgb24.data = 0;
rgb24.data = nullptr;
rgb24.cols = rgb24.rows = rgb24.step = 0;
}

Expand Down
6 changes: 3 additions & 3 deletions gpu/kinfu/tools/kinfu_app.cpp
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Expand Up @@ -364,7 +364,7 @@ struct ImageView
}

void
showScene (KinfuTracker& kinfu, const PtrStepSz<const KinfuTracker::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = 0)
showScene (KinfuTracker& kinfu, const PtrStepSz<const KinfuTracker::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = nullptr)
{
if (pose_ptr)
{
Expand Down Expand Up @@ -818,7 +818,7 @@ struct KinFuApp
if (viz_ && has_image)
{
Eigen::Affine3f viewer_pose = getViewerPose(*scene_cloud_view_.cloud_viewer_);
image_view_.showScene (kinfu_, rgb24, registration_, independent_camera_ ? &viewer_pose : 0);
image_view_.showScene (kinfu_, rgb24, registration_, independent_camera_ ? &viewer_pose : nullptr);
}

if (current_frame_cloud_view_)
Expand Down Expand Up @@ -967,7 +967,7 @@ struct KinFuApp
boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_oni = boost::bind (&KinFuApp::source_cb2_oni, this, _1, _2, _3);
boost::function<void (const DepthImagePtr&)> func2_oni = boost::bind (&KinFuApp::source_cb1_oni, this, _1);

bool is_oni = dynamic_cast<pcl::ONIGrabber*>(&capture_) != 0;
bool is_oni = dynamic_cast<pcl::ONIGrabber*>(&capture_) != nullptr;
boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1 = is_oni ? func1_oni : func1_dev;
boost::function<void (const DepthImagePtr&)> func2 = is_oni ? func2_oni : func2_dev;

Expand Down
4 changes: 2 additions & 2 deletions gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/impl/standalone_marching_cubes.hpp
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Expand Up @@ -121,7 +121,7 @@ pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>::getMeshesFromTSDFVector (con
//Get mesh
MeshPtr tmp = getMeshFromTSDFCloud (*tsdf_clouds[i]);

if(tmp != 0)
if(tmp != nullptr)
{
meshes_vector.push_back (tmp);
mesh_counter++;
Expand Down Expand Up @@ -259,7 +259,7 @@ pcl::gpu::kinfuLS::StandaloneMarchingCubes<PointT>::runMarchingCubes ()
//Creating mesh
boost::shared_ptr<pcl::PolygonMesh> mesh_ptr_ = convertTrianglesToMesh (triangles_device);

if(mesh_ptr_ != 0)
if(mesh_ptr_ != nullptr)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_tmp_ptr (new pcl::PointCloud<pcl::PointXYZ>);
fromPCLPointCloud2 ( mesh_ptr_->cloud, *cloud_tmp_ptr);
Expand Down
2 changes: 1 addition & 1 deletion gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/tsdf_buffer.h
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Expand Up @@ -70,7 +70,7 @@ namespace pcl
/** \brief Default constructor*/
tsdf_buffer ()
{
tsdf_memory_start = 0; tsdf_memory_end = 0; tsdf_rolling_buff_origin = 0;
tsdf_memory_start = nullptr; tsdf_memory_end = nullptr; tsdf_rolling_buff_origin = nullptr;
origin_GRID.x = 0; origin_GRID.y = 0; origin_GRID.z = 0;
origin_GRID_global.x = 0.f; origin_GRID_global.y = 0.f; origin_GRID_global.z = 0.f;
origin_metric.x = 0.f; origin_metric.y = 0.f; origin_metric.z = 0.f;
Expand Down
4 changes: 2 additions & 2 deletions gpu/kinfu_large_scale/tools/capture.cpp
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Expand Up @@ -114,7 +114,7 @@ pcl::gpu::kinfuLS::CaptureOpenNI::open (int device)
}

xn::NodeInfoList devicesList;
rc = impl_->context.EnumerateProductionTrees ( XN_NODE_TYPE_DEVICE, NULL, devicesList, 0 );
rc = impl_->context.EnumerateProductionTrees ( XN_NODE_TYPE_DEVICE, nullptr, devicesList, nullptr );
if (rc != XN_STATUS_OK)
{
sprintf (impl_->strError, "Init failed: %s\n", xnGetStatusString (rc));
Expand Down Expand Up @@ -276,7 +276,7 @@ pcl::gpu::kinfuLS::CaptureOpenNI::grab (PtrStepSz<const unsigned short>& depth,
else
{
printf ("no image\n");
rgb24.data = 0;
rgb24.data = nullptr;
rgb24.cols = rgb24.rows = rgb24.step = 0;
}

Expand Down
4 changes: 2 additions & 2 deletions gpu/kinfu_large_scale/tools/kinfuLS_app.cpp
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Expand Up @@ -301,7 +301,7 @@ struct ImageView
}

void
showScene (KinfuTracker& kinfu, const PtrStepSz<const pcl::gpu::kinfuLS::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = 0)
showScene (KinfuTracker& kinfu, const PtrStepSz<const pcl::gpu::kinfuLS::PixelRGB>& rgb24, bool registration, Eigen::Affine3f* pose_ptr = nullptr)
{
if (pose_ptr)
{
Expand Down Expand Up @@ -860,7 +860,7 @@ struct KinFuLSApp
if (has_image)
{
Eigen::Affine3f viewer_pose = getViewerPose(scene_cloud_view_.cloud_viewer_);
image_view_.showScene (*kinfu_, rgb24, registration_, independent_camera_ ? &viewer_pose : 0);
image_view_.showScene (*kinfu_, rgb24, registration_, independent_camera_ ? &viewer_pose : nullptr);
}

if (current_frame_cloud_view_)
Expand Down
2 changes: 1 addition & 1 deletion gpu/octree/src/internal.hpp
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Expand Up @@ -56,7 +56,7 @@ namespace pcl

int *parent;

OctreeGlobal() : nodes(0), codes(0), begs(0), ends(0), nodes_num(0), parent(0) {}
OctreeGlobal() : nodes(nullptr), codes(nullptr), begs(nullptr), ends(nullptr), nodes_num(nullptr), parent(nullptr) {}
};

struct OctreeGlobalWithBox : public OctreeGlobal
Expand Down
2 changes: 1 addition & 1 deletion gpu/octree/src/octree.cpp
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Expand Up @@ -51,7 +51,7 @@ using namespace std;
//////////////////////////////////////////////////////////////////////////////////////
//////////////// Octree Host Interface implementation ////////////////////////////////

pcl::gpu::Octree::Octree() : cloud_(0), impl(0)
pcl::gpu::Octree::Octree() : cloud_(nullptr), impl(nullptr)
{
Static<sizeof(PointType) == sizeof(OctreeImpl::PointType)>::check();

Expand Down
18 changes: 9 additions & 9 deletions gpu/people/src/cuda/nvidia/NCV.hpp
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Expand Up @@ -445,7 +445,7 @@ class NCV_EXPORTS NCVMemStackAllocator : public INCVMemAllocator
public:

explicit NCVMemStackAllocator(Ncv32u alignment);
NCVMemStackAllocator(NCVMemoryType memT, size_t capacity, Ncv32u alignment, void *reusePtr=NULL);
NCVMemStackAllocator(NCVMemoryType memT, size_t capacity, Ncv32u alignment, void *reusePtr=nullptr);
virtual ~NCVMemStackAllocator();

virtual NCVStatus alloc(NCVMemSegment &seg, size_t size);
Expand Down Expand Up @@ -535,7 +535,7 @@ class NCVVector

void clear()
{
_ptr = NULL;
_ptr = nullptr;
_length = 0;
_memtype = NCVMemoryTypeNone;
}
Expand All @@ -553,8 +553,8 @@ class NCVVector
this->_length * sizeof(T) >= howMuch &&
howMuch > 0, NCV_MEM_COPY_ERROR);
}
ncvAssertReturn((this->_ptr != NULL || this->_memtype == NCVMemoryTypeNone) &&
(dst._ptr != NULL || dst._memtype == NCVMemoryTypeNone), NCV_NULL_PTR);
ncvAssertReturn((this->_ptr != nullptr || this->_memtype == NCVMemoryTypeNone) &&
(dst._ptr != nullptr || dst._memtype == NCVMemoryTypeNone), NCV_NULL_PTR);

NCVStatus ncvStat = NCV_SUCCESS;
if (this->_memtype != NCVMemoryTypeNone)
Expand Down Expand Up @@ -620,7 +620,7 @@ class NCVVectorAlloc : public NCVVector<T>

NcvBool isMemAllocated() const
{
return (this->allocatedMem.begin.ptr != NULL) || (this->allocator.isCounting());
return (this->allocatedMem.begin.ptr != nullptr) || (this->allocator.isCounting());
}

Ncv32u getAllocatorsAlignment() const
Expand Down Expand Up @@ -707,7 +707,7 @@ class NCVMatrix

void clear()
{
_ptr = NULL;
_ptr = nullptr;
_pitch = 0;
_width = 0;
_height = 0;
Expand All @@ -734,8 +734,8 @@ class NCVMatrix
this->_pitch * this->_height >= howMuch &&
howMuch > 0, NCV_MEM_COPY_ERROR);
}
ncvAssertReturn((this->_ptr != NULL || this->_memtype == NCVMemoryTypeNone) &&
(dst._ptr != NULL || dst._memtype == NCVMemoryTypeNone), NCV_NULL_PTR);
ncvAssertReturn((this->_ptr != nullptr || this->_memtype == NCVMemoryTypeNone) &&
(dst._ptr != nullptr || dst._memtype == NCVMemoryTypeNone), NCV_NULL_PTR);

NCVStatus ncvStat = NCV_SUCCESS;
if (this->_memtype != NCVMemoryTypeNone)
Expand Down Expand Up @@ -849,7 +849,7 @@ class NCVMatrixAlloc : public NCVMatrix<T>

NcvBool isMemAllocated() const
{
return (this->allocatedMem.begin.ptr != NULL) || (this->allocator.isCounting());
return (this->allocatedMem.begin.ptr != nullptr) || (this->allocator.isCounting());
}

Ncv32u getAllocatorsAlignment() const
Expand Down
22 changes: 11 additions & 11 deletions gpu/people/src/face_detector.cpp
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Expand Up @@ -381,7 +381,7 @@ pcl::gpu::people::FaceDetector::loadFromNVBIN(const std::string &filename,
{
size_t readCount;
FILE *fp = fopen(filename.c_str(), "rb");
ncvAssertReturn(fp != NULL, NCV_FILE_ERROR);
ncvAssertReturn(fp != nullptr, NCV_FILE_ERROR);
Ncv32u fileVersion;
readCount = fread(&fileVersion, sizeof(Ncv32u), 1, fp);
PCL_ASSERT_ERROR_PRINT_RETURN(1 == readCount, "return NCV_FILE_ERROR", NCV_FILE_ERROR);
Expand Down Expand Up @@ -502,7 +502,7 @@ pcl::gpu::people::FaceDetector::ncvHaarGetClassifierSize(const std::string &file
if (fext == "nvbin")
{
FILE *fp = fopen(filename.c_str(), "rb");
PCL_ASSERT_ERROR_PRINT_RETURN(fp != NULL, "Return NCV_FILE_ERROR", NCV_FILE_ERROR);
PCL_ASSERT_ERROR_PRINT_RETURN(fp != nullptr, "Return NCV_FILE_ERROR", NCV_FILE_ERROR);
Ncv32u fileVersion;
size_t readCount = fread(&fileVersion, sizeof(Ncv32u), 1, fp);
PCL_ASSERT_ERROR_PRINT_RETURN(1 == readCount, "Return NCV_FILE_ERROR", NCV_FILE_ERROR);
Expand Down Expand Up @@ -588,9 +588,9 @@ pcl::gpu::people::FaceDetector::NCVprocess(pcl::PointCloud<pcl::RGB>&
memcpy(h_src.ptr(), &point.intensity, sizeof(point.intensity));
}

ncv_return_status = h_src.copySolid(d_src, 0);
ncv_return_status = h_src.copySolid(d_src, nullptr);
PCL_ASSERT_NCVSTAT(ncv_return_status);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(0), NCV_CUDA_ERROR);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(nullptr), NCV_CUDA_ERROR);

NCV_SKIP_COND_END

Expand All @@ -616,16 +616,16 @@ pcl::gpu::people::FaceDetector::NCVprocess(pcl::PointCloud<pcl::RGB>&
gpu_allocator,
cpu_allocator,
device_properties,
0);
nullptr);

PCL_ASSERT_NCVSTAT(ncv_return_status);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(0), NCV_CUDA_ERROR);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(nullptr), NCV_CUDA_ERROR);

NCV_SKIP_COND_BEGIN

ncv_return_status = d_src.copySolid(h_src, 0);
ncv_return_status = d_src.copySolid(h_src, nullptr);
PCL_ASSERT_NCVSTAT(ncv_return_status);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(0), NCV_CUDA_ERROR);
PCL_ASSERT_CUDA_RETURN(cudaStreamSynchronize(nullptr), NCV_CUDA_ERROR);

// Copy result back into output cloud
for(auto &point : cloud_out.points)
Expand Down Expand Up @@ -680,11 +680,11 @@ pcl::gpu::people::FaceDetector::configure(std::string cascade_file_name)
haar_features_dev_ = new NCVVectorAlloc<HaarFeature64>(*gpu_allocator_, haarNumFeatures);
PCL_ASSERT_ERROR_PRINT_RETURN(haar_features_dev_->isMemAllocated(), "[pcl::gpu::people::FaceDetector::FaceDetector] : Error in cascade GPU allocator", -1);

ncv_return_status = haar_stages_host_->copySolid(*haar_stages_dev_, 0);
ncv_return_status = haar_stages_host_->copySolid(*haar_stages_dev_, nullptr);
PCL_ASSERT_ERROR_PRINT_RETURN(ncv_return_status == NCV_SUCCESS, "[pcl::gpu::people::FaceDetector::FaceDetector] : Error copying cascade to GPU", -1);
ncv_return_status = haar_nodes_host_->copySolid(*haar_nodes_dev_, 0);
ncv_return_status = haar_nodes_host_->copySolid(*haar_nodes_dev_, nullptr);
PCL_ASSERT_ERROR_PRINT_RETURN(ncv_return_status == NCV_SUCCESS, "[pcl::gpu::people::FaceDetector::FaceDetector] : Error copying cascade to GPU", -1);
ncv_return_status = haar_features_host_->copySolid(*haar_features_dev_, 0);
ncv_return_status = haar_features_host_->copySolid(*haar_features_dev_, nullptr);
PCL_ASSERT_ERROR_PRINT_RETURN(ncv_return_status == NCV_SUCCESS, "[pcl::gpu::people::FaceDetector::FaceDetector] : Error copying cascade to GPU", -1);

// Calculate memory requirements and create real allocators
Expand Down
4 changes: 2 additions & 2 deletions gpu/utils/include/pcl/gpu/utils/timers_cuda.hpp
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Expand Up @@ -60,8 +60,8 @@ namespace pcl
cudaEventDestroy(stop_);
}

void start() { cudaEventRecord(start_, 0); }
Timer& stop() { cudaEventRecord(stop_, 0); cudaEventSynchronize(stop_); return *this; }
void start() { cudaEventRecord(start_, nullptr); }
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Timer& stop() { cudaEventRecord(stop_, nullptr); cudaEventSynchronize(stop_); return *this; }

float time()
{
Expand Down