Merge pull request #3012 from SunBlack/modernize-use-nullptr_io

Use nullptr in module io

io/include/pcl/io/grabber.h

@@ -227,7 +227,7 @@ namespace pcl
       signals_[typeid (T).name ()] = signal;
       return (signal);
     }
-    return (0);
+    return (nullptr);
   }
 
   template<typename T> boost::signals2::connection

io/include/pcl/io/impl/pcd_io.hpp

@@ -185,7 +185,7 @@ pcl::PCDWriter::writeBinary (const std::string &file_name,
     return (-1);
   }
 
-  char *map = static_cast<char*> (::mmap (0, data_idx + data_size, PROT_WRITE, MAP_SHARED, fd, 0));
+  char *map = static_cast<char*> (::mmap (nullptr, data_idx + data_size, PROT_WRITE, MAP_SHARED, fd, 0));
   if (map == reinterpret_cast<char*> (-1)) //MAP_FAILED)
   {
     io::raw_close (fd);
@@ -384,7 +384,7 @@ pcl::PCDWriter::writeBinaryCompressed (const std::string &file_name,
     return (-1);
   }
 
-  char *map = static_cast<char*> (::mmap (0, compressed_final_size, PROT_WRITE, MAP_SHARED, fd, 0));
+  char *map = static_cast<char*> (::mmap (nullptr, compressed_final_size, PROT_WRITE, MAP_SHARED, fd, 0));
   if (map == reinterpret_cast<char*> (-1)) //MAP_FAILED)
   {
     io::raw_close (fd);
@@ -663,7 +663,7 @@ pcl::PCDWriter::writeBinary (const std::string &file_name,
     return (-1);
   }
 
-  char *map = static_cast<char*> (::mmap (0, data_idx + data_size, PROT_WRITE, MAP_SHARED, fd, 0));
+  char *map = static_cast<char*> (::mmap (nullptr, data_idx + data_size, PROT_WRITE, MAP_SHARED, fd, 0));
   if (map == reinterpret_cast<char*> (-1)) //MAP_FAILED)
   {
     io::raw_close (fd);

io/include/pcl/io/impl/point_cloud_image_extractors.hpp

@@ -170,7 +170,7 @@ pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extractImpl (const Poin
       img.step = img.width * sizeof (unsigned char) * 3;
       img.data.resize (img.step * img.height);
 
-      std::srand(std::time(0));
+      std::srand(std::time(nullptr));
       std::map<uint32_t, size_t> colormap;
 
       for (size_t i = 0; i < cloud.points.size (); ++i)
@@ -199,7 +199,7 @@ pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extractImpl (const Poin
       img.step = img.width * sizeof (unsigned char) * 3;
       img.data.resize (img.step * img.height);
 
-      std::srand(std::time(0));
+      std::srand(std::time(nullptr));
       std::set<uint32_t> labels;
       std::map<uint32_t, size_t> colormap;
 

io/include/pcl/io/openni2/openni2_frame_listener.h

@@ -57,7 +57,7 @@ namespace pcl
         public:
 
           OpenNI2FrameListener ()
-            : callback_(0) {}
+            : callback_() {}
           OpenNI2FrameListener (StreamCallbackFunction cb)
             : callback_(cb) {}
 

io/include/pcl/io/openni_camera/openni_device.h

@@ -284,7 +284,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of image-stream callbacks.
         */
       CallbackHandle 
-      registerImageCallback (const ImageCallbackFunction& callback, void* cookie = NULL) throw ();
+      registerImageCallback (const ImageCallbackFunction& callback, void* cookie = nullptr) throw ();
 
       /** \brief registers a callback function for the image stream with an optional user defined parameter.
         *        This version is used to register a member function of any class.
@@ -295,7 +295,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of image-stream callbacks.
         */
       template<typename T> CallbackHandle 
-      registerImageCallback (void (T::*callback)(boost::shared_ptr<Image>, void* cookie), T& instance, void* cookie = NULL) throw ();
+      registerImageCallback (void (T::*callback)(boost::shared_ptr<Image>, void* cookie), T& instance, void* cookie = nullptr) throw ();
 
       /** \brief unregisters a callback function. i.e. removes that function from the list of image stream callbacks.
         * \param[in] callbackHandle the handle of the callback to unregister.
@@ -312,7 +312,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of depth-stream callbacks.
         */
       CallbackHandle 
-      registerDepthCallback (const DepthImageCallbackFunction& callback, void* cookie = NULL) throw ();
+      registerDepthCallback (const DepthImageCallbackFunction& callback, void* cookie = nullptr) throw ();
 
       /** \brief registers a callback function for the depth stream with an optional user defined parameter.
         *        This version is used to register a member function of any class.
@@ -323,7 +323,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of depth-stream callbacks.
         */
       template<typename T> CallbackHandle 
-      registerDepthCallback (void (T::*callback)(boost::shared_ptr<DepthImage>, void* cookie), T& instance, void* cookie = NULL) throw ();
+      registerDepthCallback (void (T::*callback)(boost::shared_ptr<DepthImage>, void* cookie), T& instance, void* cookie = nullptr) throw ();
 
       /** \brief unregisters a callback function. i.e. removes that function from the list of depth stream callbacks.
         * \param[in] callbackHandle the handle of the callback to unregister.
@@ -339,7 +339,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of IR-stream callbacks.
         */
       CallbackHandle 
-      registerIRCallback (const IRImageCallbackFunction& callback, void* cookie = NULL) throw ();
+      registerIRCallback (const IRImageCallbackFunction& callback, void* cookie = nullptr) throw ();
 
       /** \brief registers a callback function for the IR stream with an optional user defined parameter.
         *        This version is used to register a member function of any class.
@@ -350,7 +350,7 @@ namespace openni_wrapper
         * \return a callback handler that can be used to remove the user callback from list of IR-stream callbacks.
         */
       template<typename T> CallbackHandle 
-      registerIRCallback (void (T::*callback)(boost::shared_ptr<IRImage>, void* cookie), T& instance, void* cookie = NULL) throw ();
+      registerIRCallback (void (T::*callback)(boost::shared_ptr<IRImage>, void* cookie), T& instance, void* cookie = nullptr) throw ();
 
       /** \brief unregisters a callback function. i.e. removes that function from the list of IR stream callbacks.
         * \param[in] callbackHandle the handle of the callback to unregister.

io/include/pcl/io/ply_io.h

@@ -90,10 +90,10 @@ namespace pcl
         , cloud_ ()
         , vertex_count_ (0)
         , vertex_offset_before_ (0)
-        , range_grid_ (0)
+        , range_grid_ (nullptr)
         , rgb_offset_before_ (0)
         , do_resize_ (false)
-        , polygons_ (0)
+        , polygons_ (nullptr)
         , r_(0), g_(0), b_(0)
         , a_(0), rgba_(0)
       {}
@@ -106,10 +106,10 @@ namespace pcl
         , cloud_ ()
         , vertex_count_ (0)
         , vertex_offset_before_ (0)
-        , range_grid_ (0)
+        , range_grid_ (nullptr)
         , rgb_offset_before_ (0)
         , do_resize_ (false)
-        , polygons_ (0)
+        , polygons_ (nullptr)
         , r_(0), g_(0), b_(0)
         , a_(0), rgba_(0)
       {

io/src/dinast_grabber.cpp

@@ -48,7 +48,7 @@ pcl::DinastGrabber::DinastGrabber (const int device_position)
   , image_height_ (240)
   , sync_packet_size_ (512)
   , fov_ (64. * M_PI / 180.)
-  , context_ (NULL)
+  , context_ (nullptr)
   , bulk_ep_ (std::numeric_limits<unsigned char>::max ())
   , second_image_ (false)
   , running_ (false)
@@ -131,7 +131,7 @@ pcl::DinastGrabber::setupDevice (int device_position, const int id_vendor, const
   #else
     libusb_set_debug (context_, 3);
   #endif
-  libusb_device **devs = NULL;
+  libusb_device **devs = nullptr;
 
   // Get the list of USB devices
   ssize_t number_devices = libusb_get_device_list (context_, &devs);
@@ -187,7 +187,7 @@ pcl::DinastGrabber::setupDevice (int device_position, const int id_vendor, const
   libusb_free_device_list (devs, 1);
 
   // Check if device founded if not notify
-  if (device_handle_ == NULL)
+  if (device_handle_ == nullptr)
     PCL_THROW_EXCEPTION (pcl::IOException, "[pcl::DinastGrabber::setupDevice] Failed to find any DINAST devices attached");
 
   // Claim device interface

io/src/hdl_grabber.cpp

@@ -52,8 +52,8 @@
 #include <pcap.h>
 #endif // #ifdef HAVE_PCAP
 
-double *pcl::HDLGrabber::cos_lookup_table_ = NULL;
-double *pcl::HDLGrabber::sin_lookup_table_ = NULL;
+double *pcl::HDLGrabber::cos_lookup_table_ = nullptr;
+double *pcl::HDLGrabber::sin_lookup_table_ = nullptr;
 
 using boost::asio::ip::udp;
 
@@ -78,10 +78,10 @@ pcl::HDLGrabber::HDLGrabber (const std::string& correctionsFile,
     source_address_filter_ (),
     source_port_filter_ (443),
     hdl_read_socket_service_ (),
-    hdl_read_socket_ (NULL),
+    hdl_read_socket_ (nullptr),
     pcap_file_name_ (pcapFile),
-    queue_consumer_thread_ (NULL),
-    hdl_read_packet_thread_ (NULL),
+    queue_consumer_thread_ (nullptr),
+    hdl_read_packet_thread_ (nullptr),
     min_distance_threshold_ (0.0),
     max_distance_threshold_ (10000.0)
 {
@@ -110,10 +110,10 @@ pcl::HDLGrabber::HDLGrabber (const boost::asio::ip::address& ipAddress,
     source_address_filter_ (),
     source_port_filter_ (443),
     hdl_read_socket_service_ (),
-    hdl_read_socket_ (NULL),
+    hdl_read_socket_ (nullptr),
     pcap_file_name_ (),
-    queue_consumer_thread_ (NULL),
-    hdl_read_packet_thread_ (NULL),
+    queue_consumer_thread_ (nullptr),
+    hdl_read_packet_thread_ (nullptr),
     min_distance_threshold_ (0.0),
     max_distance_threshold_ (10000.0)
 {
@@ -137,7 +137,7 @@ pcl::HDLGrabber::~HDLGrabber () throw ()
 void
 pcl::HDLGrabber::initialize (const std::string& correctionsFile)
 {
-  if (cos_lookup_table_ == NULL && sin_lookup_table_ == NULL)
+  if (cos_lookup_table_ == nullptr && sin_lookup_table_ == nullptr)
   {
     cos_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*cos_lookup_table_)));
     sin_lookup_table_ = static_cast<double *> (malloc (HDL_NUM_ROT_ANGLES * sizeof (*sin_lookup_table_)));
@@ -443,13 +443,13 @@ pcl::HDLGrabber::computeXYZI (pcl::PointXYZI& point,
 void
 pcl::HDLGrabber::fireCurrentSweep ()
 {
-  if (sweep_xyz_signal_ != NULL && sweep_xyz_signal_->num_slots () > 0)
+  if (sweep_xyz_signal_ != nullptr && sweep_xyz_signal_->num_slots () > 0)
     sweep_xyz_signal_->operator() (current_sweep_xyz_);
 
-  if (sweep_xyzrgba_signal_ != NULL && sweep_xyzrgba_signal_->num_slots () > 0)
+  if (sweep_xyzrgba_signal_ != nullptr && sweep_xyzrgba_signal_->num_slots () > 0)
     sweep_xyzrgba_signal_->operator() (current_sweep_xyzrgba_);
 
-  if (sweep_xyzi_signal_ != NULL && sweep_xyzi_signal_->num_slots () > 0)
+  if (sweep_xyzi_signal_ != nullptr && sweep_xyzi_signal_->num_slots () > 0)
     sweep_xyzi_signal_->operator() (current_sweep_xyzi_);
 }
 
@@ -541,32 +541,32 @@ pcl::HDLGrabber::stop ()
   terminate_read_packet_thread_ = true;
   hdl_data_.stopQueue ();
 
-  if (hdl_read_packet_thread_ != NULL)
+  if (hdl_read_packet_thread_ != nullptr)
   {
     hdl_read_packet_thread_->interrupt ();
     hdl_read_packet_thread_->join ();
     delete hdl_read_packet_thread_;
-    hdl_read_packet_thread_ = NULL;
+    hdl_read_packet_thread_ = nullptr;
   }
-  if (queue_consumer_thread_ != NULL)
+  if (queue_consumer_thread_ != nullptr)
   {
     queue_consumer_thread_->join ();
     delete queue_consumer_thread_;
-    queue_consumer_thread_ = NULL;
+    queue_consumer_thread_ = nullptr;
   }
 
-  if (hdl_read_socket_ != NULL)
+  if (hdl_read_socket_ != nullptr)
   {
     delete hdl_read_socket_;
-    hdl_read_socket_ = NULL;
+    hdl_read_socket_ = nullptr;
   }
 }
 
 /////////////////////////////////////////////////////////////////////////////
 bool
 pcl::HDLGrabber::isRunning () const
 {
-  return (!hdl_data_.isEmpty () || (hdl_read_packet_thread_ != NULL && !hdl_read_packet_thread_->timed_join (boost::posix_time::milliseconds (10))));
+  return (!hdl_data_.isEmpty () || (hdl_read_packet_thread_ != nullptr && !hdl_read_packet_thread_->timed_join (boost::posix_time::milliseconds (10))));
 }
 
 /////////////////////////////////////////////////////////////////////////////

io/src/libpng_wrapper.cpp

@@ -119,7 +119,7 @@ namespace pcl
       assert (image_arg.size () == width_arg*height_arg*channels);
 
       // Initialize write structure
-      png_ptr = png_create_write_struct (PNG_LIBPNG_VER_STRING, 0, 0, 0);
+      png_ptr = png_create_write_struct (PNG_LIBPNG_VER_STRING, nullptr, nullptr, nullptr);
       assert (png_ptr && "creating png_create_write_structpng_create_write_struct failed");
 
       // Initialize info structure
@@ -163,12 +163,12 @@ namespace pcl
       }
 
       // End write
-      png_write_end (png_ptr, 0);
+      png_write_end (png_ptr, nullptr);
 
       if (info_ptr)
         png_free_data (png_ptr, info_ptr, PNG_FREE_ALL, -1);
       if (png_ptr)
-        png_destroy_write_struct (&png_ptr, 0);
+        png_destroy_write_struct (&png_ptr, nullptr);
     }
 
     ///////////////////////////////////////////////////////////////////////////////////////////
@@ -190,7 +190,7 @@ namespace pcl
       if (pngData_arg.size () == 0)
         return;
 
-      png_ptr = png_create_read_struct (PNG_LIBPNG_VER_STRING, 0, 0, 0);
+      png_ptr = png_create_read_struct (PNG_LIBPNG_VER_STRING, nullptr, nullptr, nullptr);
       assert (png_ptr && "creating png_create_write_structpng_create_write_struct failed");
 
       // Initialize info structure
@@ -206,7 +206,7 @@ namespace pcl
       png_read_info (png_ptr, info_ptr);
 
       png_get_IHDR (png_ptr, info_ptr, &png_width, &png_height, &png_bit_depth,
-          &png_color_type, &png_interlace_type, NULL, NULL);
+          &png_color_type, &png_interlace_type, nullptr, nullptr);
 
       // ensure a color bit depth of 8
       assert(png_bit_depth==sizeof(T)*8);
@@ -248,7 +248,7 @@ namespace pcl
       if (info_ptr)
         png_free_data (png_ptr, info_ptr, PNG_FREE_ALL, -1);
       if (png_ptr)
-        png_destroy_read_struct (&png_ptr, 0, 0);
+        png_destroy_read_struct (&png_ptr, nullptr, nullptr);
       if (row_pointers)
         free (row_pointers);
     }

io/src/lzf_image_io.cpp

@@ -86,7 +86,7 @@ pcl::io::LZFImageWriter::saveImageBlob (const char* data,
     return (false);
   }
 
-  char *map = static_cast<char*> (::mmap (0, data_size, PROT_WRITE, MAP_SHARED, fd, 0));
+  char *map = static_cast<char*> (::mmap (nullptr, data_size, PROT_WRITE, MAP_SHARED, fd, 0));
   if (map == reinterpret_cast<char*> (-1))    // MAP_FAILED
   {
     raw_close (fd);
@@ -399,7 +399,7 @@ pcl::io::LZFImageReader::loadImageBlob (const std::string &filename,
     return (false);
   }
 #else
-  char *map = static_cast<char*> (::mmap (0, data_size, PROT_READ, MAP_SHARED, fd, 0));
+  char *map = static_cast<char*> (::mmap (nullptr, data_size, PROT_READ, MAP_SHARED, fd, 0));
   if (map == reinterpret_cast<char*> (-1))    // MAP_FAILED
   {
     raw_close (fd);
@@ -492,7 +492,7 @@ pcl::io::LZFImageReader::readParameters (const std::string &filename)
 {
   std::filebuf fb;
   std::filebuf *f = fb.open (filename.c_str (), std::ios::in);
-  if (f == NULL)
+  if (f == nullptr)
     return (false);
   std::istream is (&fb);
   bool res = readParameters (is);