Modernize with clang-tidy from base subprojects [PCL-2731]

.clang-tidy

@@ -0,0 +1,2 @@
+---
+Checks: '-*,modernize-deprecated-headers,modernize-redundant-void-arg,modernize-replace-random-shuffle,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-nullptr,modernize-use-override,modernize-use-using'

common/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(range_image_incs
   include/pcl/range_image/bearing_angle_image.h
   include/pcl/range_image/range_image.h

common/src/feature_histogram.cpp

@@ -65,9 +65,7 @@ pcl::FeatureHistogram::FeatureHistogram (std::size_t const number_of_bins,
 }
 
 pcl::FeatureHistogram::~FeatureHistogram ()
-{
-
-}
+= default;
 
 float
 pcl::FeatureHistogram::getThresholdMin () const

common/src/range_image_planar.cpp

@@ -51,8 +51,7 @@ namespace pcl
 
   /////////////////////////////////////////////////////////////////////////
   RangeImagePlanar::~RangeImagePlanar ()
-  {
-  }
+  = default;
 
   /////////////////////////////////////////////////////////////////////////
   void

geometry/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(incs
   "include/pcl/${SUBSYS_NAME}/boost.h"
   "include/pcl/${SUBSYS_NAME}/eigen.h"

io/CMakeLists.txt

@@ -24,6 +24,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 if(WITH_OPENNI2)
   set(IMAGE_INCLUDES
     include/pcl/io/image_metadata_wrapper.h

io/src/ascii_io.cpp

@@ -79,8 +79,7 @@ pcl::ASCIIReader::ASCIIReader ()
 
 //////////////////////////////////////////////////////////////////////////////
 pcl::ASCIIReader::~ASCIIReader ()
-{
-}
+= default;
 
 //////////////////////////////////////////////////////////////////////////////
 int

io/src/ensenso_grabber.cpp

@@ -312,9 +312,9 @@ pcl::EnsensoGrabber::grabSingleCloud (pcl::PointCloud<pcl::PointXYZ> &cloud) con
     double timestamp;
     std::vector<float> pointMap;
     int width, height;
-    camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (0, 0, 0, 0, 0, &timestamp);  // Get raw image timestamp
-    camera_[itmImages][itmPointMap].getBinaryDataInfo (&width, &height, 0, 0, 0, 0);
-    camera_[itmImages][itmPointMap].getBinaryData (pointMap, 0);
+    camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (nullptr, nullptr, nullptr, nullptr, nullptr, &timestamp);  // Get raw image timestamp
+    camera_[itmImages][itmPointMap].getBinaryDataInfo (&width, &height, nullptr, nullptr, nullptr, nullptr);
+    camera_[itmImages][itmPointMap].getBinaryData (pointMap, nullptr);
 
     // Copy point cloud and convert in meters
     cloud.header.stamp = getPCLStamp (timestamp);
@@ -971,7 +971,7 @@ pcl::EnsensoGrabber::processGrabbing ()
 
         NxLibCommand (cmdCapture).execute ();
         double timestamp;
-        camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (0, 0, 0, 0, 0, &timestamp);
+        camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (nullptr, nullptr, nullptr, nullptr, nullptr, &timestamp);
 
         // Gather images
         if (num_slots<sig_cb_ensenso_images> () > 0 || num_slots<sig_cb_ensenso_point_cloud_images> () > 0)
@@ -995,29 +995,29 @@ pcl::EnsensoGrabber::processGrabbing ()
 
           if (collected_pattern)
           {
-            camera_[itmImages][itmWithOverlay][itmLeft].getBinaryDataInfo (&width, &height, &channels, &bpe, &isFlt, 0);
+            camera_[itmImages][itmWithOverlay][itmLeft].getBinaryDataInfo (&width, &height, &channels, &bpe, &isFlt, nullptr);
             images->first.header.stamp = images->second.header.stamp = getPCLStamp (timestamp);
             images->first.width = images->second.width = width;
             images->first.height = images->second.height = height;
             images->first.data.resize (width * height * sizeof(float));
             images->second.data.resize (width * height * sizeof(float));
             images->first.encoding = images->second.encoding = getOpenCVType (channels, bpe, isFlt);
 
-            camera_[itmImages][itmWithOverlay][itmLeft].getBinaryData (images->first.data.data (), images->first.data.size (), 0, 0);
-            camera_[itmImages][itmWithOverlay][itmRight].getBinaryData (images->second.data.data (), images->second.data.size (), 0, 0);
+            camera_[itmImages][itmWithOverlay][itmLeft].getBinaryData (images->first.data.data (), images->first.data.size (), nullptr, nullptr);
+            camera_[itmImages][itmWithOverlay][itmRight].getBinaryData (images->second.data.data (), images->second.data.size (), nullptr, nullptr);
           }
           else
           {
-            camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (&width, &height, &channels, &bpe, &isFlt, 0);
+            camera_[itmImages][itmRaw][itmLeft].getBinaryDataInfo (&width, &height, &channels, &bpe, &isFlt, nullptr);
             images->first.header.stamp = images->second.header.stamp = getPCLStamp (timestamp);
             images->first.width = images->second.width = width;
             images->first.height = images->second.height = height;
             images->first.data.resize (width * height * sizeof(float));
             images->second.data.resize (width * height * sizeof(float));
             images->first.encoding = images->second.encoding = getOpenCVType (channels, bpe, isFlt);
 
-            camera_[itmImages][itmRaw][itmLeft].getBinaryData (images->first.data.data (), images->first.data.size (), 0, 0);
-            camera_[itmImages][itmRaw][itmRight].getBinaryData (images->second.data.data (), images->second.data.size (), 0, 0);
+            camera_[itmImages][itmRaw][itmLeft].getBinaryData (images->first.data.data (), images->first.data.size (), nullptr, nullptr);
+            camera_[itmImages][itmRaw][itmRight].getBinaryData (images->second.data.data (), images->second.data.size (), nullptr, nullptr);
           }
         }
 
@@ -1033,8 +1033,8 @@ pcl::EnsensoGrabber::processGrabbing ()
           // Get info about the computed point map and copy it into a std::vector
           std::vector<float> pointMap;
           int width, height;
-          camera_[itmImages][itmPointMap].getBinaryDataInfo (&width, &height, 0, 0, 0, 0);
-          camera_[itmImages][itmPointMap].getBinaryData (pointMap, 0);
+          camera_[itmImages][itmPointMap].getBinaryDataInfo (&width, &height, nullptr, nullptr, nullptr, nullptr);
+          camera_[itmImages][itmPointMap].getBinaryData (pointMap, nullptr);
 
           // Copy point cloud and convert in meters
           cloud->header.stamp = getPCLStamp (timestamp);

io/src/io_exception.cpp

@@ -48,8 +48,7 @@ pcl::io::IOException::IOException (const std::string& function_name, const std::
 }
 
 pcl::io::IOException::~IOException () noexcept
-{
-}
+= default;
 
 pcl::io::IOException&
 pcl::io::IOException::operator = (const IOException& exception)

io/src/openni_camera/openni_driver.cpp

@@ -557,12 +557,7 @@ openni_wrapper::OpenNIDriver::DeviceContext::DeviceContext (const xn::NodeInfo&
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 openni_wrapper::OpenNIDriver::DeviceContext::DeviceContext (const DeviceContext& other)
-: device_node (other.device_node)
-, image_node (other.image_node)
-, depth_node (other.depth_node)
-, ir_node (other.ir_node)
-, device (other.device)
-{
-}
+
+= default;
 
 #endif

io/src/openni_camera/openni_exception.cpp

@@ -55,8 +55,7 @@ OpenNIException::OpenNIException (const std::string& function_name, const std::s
 }
 
 OpenNIException::~OpenNIException () noexcept
-{
-}
+= default;
 
 OpenNIException& OpenNIException::operator = (const OpenNIException& exception) noexcept
 {

io/src/openni_camera/openni_image_bayer_grbg.cpp

@@ -56,8 +56,7 @@ openni_wrapper::ImageBayerGRBG::ImageBayerGRBG (pcl::shared_ptr<xn::ImageMetaDat
 
 //////////////////////////////////////////////////////////////////////////////
 openni_wrapper::ImageBayerGRBG::~ImageBayerGRBG () noexcept
-{
-}
+= default;
 
 //////////////////////////////////////////////////////////////////////////////
 bool 

io/src/openni_camera/openni_image_rgb24.cpp

@@ -12,8 +12,7 @@ ImageRGB24::ImageRGB24 (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) noex
 }
 
 ImageRGB24::~ImageRGB24 () noexcept
-{
-}
+= default;
 
 void ImageRGB24::fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step) const
 {

io/src/openni_camera/openni_image_yuv_422.cpp

@@ -53,8 +53,7 @@ ImageYUV422::ImageYUV422 (pcl::shared_ptr<xn::ImageMetaData> image_meta_data) no
 }
 
 ImageYUV422::~ImageYUV422 () noexcept
-{
-}
+= default;
 
 bool ImageYUV422::isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
 {

io/src/vlp_grabber.cpp

@@ -59,8 +59,7 @@ pcl::VLPGrabber::VLPGrabber (const boost::asio::ip::address& ipAddress,
 
 /////////////////////////////////////////////////////////////////////////////
 pcl::VLPGrabber::~VLPGrabber () noexcept
-{
-}
+= default;
 
 /////////////////////////////////////////////////////////////////////////////
 void

io/tools/openni_pcd_recorder.cpp

@@ -101,7 +101,7 @@ template <typename PointT>
 class PCDBuffer
 {
   public:
-    PCDBuffer () {}
+    PCDBuffer () = default;
 
     bool 
     pushBack (typename PointCloud<PointT>::ConstPtr); // thread-save wrapper for push_back() method of ciruclar_buffer

kdtree/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(srcs
   src/kdtree_flann.cpp
 )

ml/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(incs
   "include/pcl/${SUBSYS_NAME}/branch_estimator.h"
   "include/pcl/${SUBSYS_NAME}/feature_handler.h"

ml/src/kmeans.cpp

@@ -58,7 +58,7 @@ pcl::Kmeans::Kmeans(unsigned int num_points, unsigned int num_dimensions)
 {}
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-pcl::Kmeans::~Kmeans() {}
+pcl::Kmeans::~Kmeans() = default;
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 void

ml/src/svm.cpp

@@ -302,14 +302,14 @@ class QMatrix {
   get_QD() const = 0;
   virtual void
   swap_index(int i, int j) const = 0;
-  virtual ~QMatrix() {}
+  virtual ~QMatrix() = default;
 };
 
 class Kernel : public QMatrix {
 
 public:
   Kernel(int l, svm_node* const* x, const svm_parameter& param);
-  ~Kernel();
+  ~Kernel() override;
 
   static double
   k_function(const svm_node* x, const svm_node* y, const svm_parameter& param);
@@ -520,9 +520,9 @@ Kernel::k_function(const svm_node* x, const svm_node* y, const svm_parameter& pa
 class Solver {
 
 public:
-  Solver(){};
+  Solver() = default;
 
-  virtual ~Solver(){};
+  virtual ~Solver() = default;
 
   struct SolutionInfo {
     double obj;
@@ -1173,7 +1173,7 @@ Solver::calculate_rho()
 class Solver_NU : public Solver {
 
 public:
-  Solver_NU() {}
+  Solver_NU() = default;
 
   void
   Solve(int l,
@@ -1477,7 +1477,7 @@ class SVC_Q : public Kernel {
     swap(QD[i], QD[j]);
   }
 
-  ~SVC_Q()
+  ~SVC_Q() override
   {
     delete[] y;
     delete cache;
@@ -1531,7 +1531,7 @@ class ONE_CLASS_Q : public Kernel {
     swap(QD[i], QD[j]);
   }
 
-  ~ONE_CLASS_Q()
+  ~ONE_CLASS_Q() override
   {
     delete cache;
     delete[] QD;
@@ -1607,7 +1607,7 @@ class SVR_Q : public Kernel {
     return QD;
   }
 
-  ~SVR_Q()
+  ~SVR_Q() override
   {
     delete cache;
     delete[] sign;

octree/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(srcs
   src/octree_inst.cpp
 )

sample_consensus/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(srcs
   src/sac.cpp
   src/sac_model_circle.cpp

search/CMakeLists.txt

@@ -12,6 +12,9 @@ if(NOT build)
   return()
 endif()
 
+### ---[ Generate compile_commands.json for clang-tidy
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 set(srcs
   src/search.cpp
   src/kdtree.cpp