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Use nullptr in module registration #3020

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merged 2 commits into from
Apr 22, 2019
Merged

Use nullptr in module registration #3020

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31ef958
Changes are done by run-clang-tidy -header-filter='.*' -checks='-*,mo…
Apr 18, 2019
3797608
Use .empty to check for unset boost::function
Apr 20, 2019
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8 changes: 4 additions & 4 deletions registration/include/pcl/registration/exceptions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ namespace pcl
public:

SolverDidntConvergeException (const std::string& error_description,
const char* file_name = NULL,
const char* function_name = NULL,
const char* file_name = nullptr,
const char* function_name = nullptr,
unsigned line_number = 0)
: pcl::PCLException (error_description, file_name, function_name, line_number) { }
} ;
Expand All @@ -67,8 +67,8 @@ namespace pcl
public:

NotEnoughPointsException (const std::string& error_description,
const char* file_name = NULL,
const char* function_name = NULL,
const char* file_name = nullptr,
const char* function_name = nullptr,
unsigned line_number = 0)
: pcl::PCLException (error_description, file_name, function_name, line_number) { }
} ;
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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/impl/ia_fpcs.hpp
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Expand Up @@ -231,7 +231,7 @@ pcl::registration::FPCSInitialAlignment <PointSource, PointTarget, NormalT, Scal
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> bool
pcl::registration::FPCSInitialAlignment <PointSource, PointTarget, NormalT, Scalar>::initCompute ()
{
std::srand (static_cast <unsigned int> (std::time (NULL)));
std::srand (static_cast <unsigned int> (std::time (nullptr)));

// basic pcl initialization
if (!pcl::PCLBase <PointSource>::initCompute ())
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/impl/ia_ransac.hpp
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Expand Up @@ -47,7 +47,7 @@
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::setSourceFeatures (const FeatureCloudConstPtr &features)
{
if (features == NULL || features->empty ())
if (features == nullptr || features->empty ())
{
PCL_ERROR ("[pcl::%s::setSourceFeatures] Invalid or empty point cloud dataset given!\n", getClassName ().c_str ());
return;
Expand All @@ -59,7 +59,7 @@ pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::setSou
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusInitialAlignment<PointSource, PointTarget, FeatureT>::setTargetFeatures (const FeatureCloudConstPtr &features)
{
if (features == NULL || features->empty ())
if (features == nullptr || features->empty ())
{
PCL_ERROR ("[pcl::%s::setTargetFeatures] Invalid or empty point cloud dataset given!\n", getClassName ().c_str ());
return;
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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/impl/ndt.hpp
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Expand Up @@ -153,7 +153,7 @@ pcl::NormalDistributionsTransform<PointSource, PointTarget>::computeTransformati
p = p + delta_p;

// Update Visualizer (untested)
if (update_visualizer_ != 0)
if (!update_visualizer_.empty())
update_visualizer_ (output, std::vector<int>(), *target_, std::vector<int>() );

double cos_angle = 0.5 * (transformation_.coeff (0, 0) + transformation_.coeff (1, 1) + transformation_.coeff (2, 2) - 1);
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/impl/ndt_2d.hpp
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Expand Up @@ -280,7 +280,7 @@ namespace pcl
Eigen::Vector2i idxi = idxf.cast<int> ();
for (size_t i = 0; i < 2; i++)
if (idxi[i] >= cells_[i] || idxi[i] < 0)
return NULL;
return nullptr;
// const cast to avoid duplicating this function in const and
// non-const variants...
return const_cast<NormalDist*> (&normal_distributions_.coeffRef (idxi[0], idxi[1]));
Expand Down Expand Up @@ -469,7 +469,7 @@ pcl::NormalDistributionsTransform2D<PointSource, PointTarget>::computeTransforma

nr_iterations_++;

if (update_visualizer_ != 0)
if (!update_visualizer_.empty())
update_visualizer_ (output, *indices_, *target_, *indices_);

//std::cout << "eps=" << fabs ((transformation - previous_transformation_).sum ()) << std::endl;
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/impl/sample_consensus_prerejective.hpp
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Expand Up @@ -45,7 +45,7 @@
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::setSourceFeatures (const FeatureCloudConstPtr &features)
{
if (features == NULL || features->empty ())
if (features == nullptr || features->empty ())
{
PCL_ERROR ("[pcl::%s::setSourceFeatures] Invalid or empty point cloud dataset given!\n", getClassName ().c_str ());
return;
Expand All @@ -57,7 +57,7 @@ pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::setSourceF
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::setTargetFeatures (const FeatureCloudConstPtr &features)
{
if (features == NULL || features->empty ())
if (features == nullptr || features->empty ())
{
PCL_ERROR ("[pcl::%s::setTargetFeatures] Invalid or empty point cloud dataset given!\n", getClassName ().c_str ());
return;
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10 changes: 5 additions & 5 deletions registration/include/pcl/registration/impl/transformation_estimation_lm.hpp
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Expand Up @@ -107,8 +107,8 @@ pcl::registration::TransformationEstimationLM<PointSource, PointTarget, MatScala
warp_point_->setParam (x);
transformation_matrix = warp_point_->getTransform ();

tmp_src_ = NULL;
tmp_tgt_ = NULL;
tmp_src_ = nullptr;
tmp_tgt_ = nullptr;
}

//////////////////////////////////////////////////////////////////////////////////////////////
Expand Down Expand Up @@ -187,9 +187,9 @@ pcl::registration::TransformationEstimationLM<PointSource, PointTarget, MatScala
warp_point_->setParam (x);
transformation_matrix = warp_point_->getTransform ();

tmp_src_ = NULL;
tmp_tgt_ = NULL;
tmp_idx_src_ = tmp_idx_tgt_ = NULL;
tmp_src_ = nullptr;
tmp_tgt_ = nullptr;
tmp_idx_src_ = tmp_idx_tgt_ = nullptr;
}

//////////////////////////////////////////////////////////////////////////////////////////////
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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/registration.h
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Expand Up @@ -372,7 +372,7 @@ namespace pcl
template<typename FunctionSignature> inline bool
registerVisualizationCallback (boost::function<FunctionSignature> &visualizerCallback)
{
if (visualizerCallback != NULL)
if (!visualizerCallback.empty())
{
update_visualizer_ = visualizerCallback;
return (true);
Expand Down