Merge pull request #2843 from SunBlack/range_based_loops_visualization

Transform classic loops to range-based for loops in module visualization

visualization/include/pcl/visualization/impl/image_viewer.hpp

@@ -253,12 +253,12 @@ pcl::visualization::ImageViewer::addRectangle (
   min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
   max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
   // Search for the two extrema
-  for (size_t i = 0; i < pp_2d.size (); ++i)
+  for (const auto &point : pp_2d)
   {
-    if (pp_2d[i].x < min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;
-    if (pp_2d[i].y < min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;
-    if (pp_2d[i].x > max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;
-    if (pp_2d[i].y > max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;
+    if (point.x < min_pt_2d.x) min_pt_2d.x = point.x;
+    if (point.y < min_pt_2d.y) min_pt_2d.y = point.y;
+    if (point.x > max_pt_2d.x) max_pt_2d.x = point.x;
+    if (point.y > max_pt_2d.y) max_pt_2d.y = point.y;
   }
   min_pt_2d.y = float (image->height) - min_pt_2d.y;
   max_pt_2d.y = float (image->height) - max_pt_2d.y;
@@ -316,12 +316,12 @@ pcl::visualization::ImageViewer::addRectangle (
   min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
   max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
   // Search for the two extrema
-  for (size_t i = 0; i < pp_2d.size (); ++i)
+  for (const auto &point : pp_2d)
   {
-    if (pp_2d[i].x < min_pt_2d.x) min_pt_2d.x = pp_2d[i].x;
-    if (pp_2d[i].y < min_pt_2d.y) min_pt_2d.y = pp_2d[i].y;
-    if (pp_2d[i].x > max_pt_2d.x) max_pt_2d.x = pp_2d[i].x;
-    if (pp_2d[i].y > max_pt_2d.y) max_pt_2d.y = pp_2d[i].y;
+    if (point.x < min_pt_2d.x) min_pt_2d.x = point.x;
+    if (point.y < min_pt_2d.y) min_pt_2d.y = point.y;
+    if (point.x > max_pt_2d.x) max_pt_2d.x = point.x;
+    if (point.y > max_pt_2d.y) max_pt_2d.y = point.y;
   }
   min_pt_2d.y = float (image->height) - min_pt_2d.y;
   max_pt_2d.y = float (image->height) - max_pt_2d.y;

visualization/include/pcl/visualization/impl/pcl_visualizer.hpp

@@ -1122,10 +1122,10 @@ pcl::visualization::PCLVisualizer::addCorrespondences (
   corrs.resize (correspondences.size ());
 
   size_t index = 0;
-  for (pcl::Correspondences::iterator corrs_it (corrs.begin ()); corrs_it != corrs.end (); ++corrs_it)
+  for (auto &corr : corrs)
   {
-    corrs_it->index_query = index;
-    corrs_it->index_match = correspondences[index];
+    corr.index_query = index;
+    corr.index_match = correspondences[index];
     index++;
   }
 
@@ -1691,9 +1691,9 @@ pcl::visualization::PCLVisualizer::addPolygonMesh (
 
   // Get the maximum size of a polygon
   int max_size_of_polygon = -1;
-  for (size_t i = 0; i < vertices.size (); ++i)
-    if (max_size_of_polygon < static_cast<int> (vertices[i].vertices.size ()))
-      max_size_of_polygon = static_cast<int> (vertices[i].vertices.size ());
+  for (const auto &vertex : vertices)
+    if (max_size_of_polygon < static_cast<int> (vertex.vertices.size ()))
+      max_size_of_polygon = static_cast<int> (vertex.vertices.size ());
 
   if (vertices.size () > 1)
   {
@@ -1870,9 +1870,9 @@ pcl::visualization::PCLVisualizer::updatePolygonMesh (
 
   // Get the maximum size of a polygon
   int max_size_of_polygon = -1;
-  for (size_t i = 0; i < verts.size (); ++i)
-    if (max_size_of_polygon < static_cast<int> (verts[i].vertices.size ()))
-      max_size_of_polygon = static_cast<int> (verts[i].vertices.size ());
+  for (const auto &vertex : verts)
+    if (max_size_of_polygon < static_cast<int> (vertex.vertices.size ()))
+      max_size_of_polygon = static_cast<int> (vertex.vertices.size ());
 
   // Update the cells
   cells = vtkSmartPointer<vtkCellArray>::New ();

visualization/src/common/io.cpp

@@ -73,9 +73,9 @@ pcl::visualization::getCorrespondingPointCloud (vtkPolyData *src,
   std::vector<int> nn_indices (1);
   std::vector<float> nn_dists (1);
   // For each point on screen, find its correspondent in the target
-  for (size_t i = 0; i < cloud.points.size (); ++i)
+  for (const auto &point : cloud.points)
   {
-    kdtree.nearestKSearch (cloud.points[i], 1, nn_indices, nn_dists);
+    kdtree.nearestKSearch (point, 1, nn_indices, nn_dists);
     indices.push_back (nn_indices[0]);
   }
   // Sort and remove duplicate indices
@@ -106,9 +106,9 @@ pcl::visualization::savePointData (vtkPolyData* data, const std::string &out_fil
 
   // Attempting to load all Point Cloud data input files (using the actor name)...
   int i = 1;
-  for (auto it = actors->cbegin (); it != actors->cend (); ++it)
+  for (const auto &actor : *actors)
   {
-    std::string file_name = (*it).first;
+    std::string file_name = actor.first;
 
     // Is there a ".pcd" in the name? If no, then do not attempt to load this actor
     std::string::size_type position;

visualization/src/histogram_visualizer.cpp

@@ -66,16 +66,16 @@ pcl::visualization::PCLHistogramVisualizer::PCLHistogramVisualizer () :
 void
 pcl::visualization::PCLHistogramVisualizer::spinOnce (int time)
 {
-  for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
+  for (auto &win : wins_)
   {
-    DO_EVERY(1.0/(*am_it).second.interactor_->GetDesiredUpdateRate (),
-      (*am_it).second.interactor_->Render ();
-      exit_main_loop_timer_callback_->right_timer_id = (*am_it).second.interactor_->CreateRepeatingTimer (time);
+    DO_EVERY(1.0/win.second.interactor_->GetDesiredUpdateRate (),
+      win.second.interactor_->Render ();
+      exit_main_loop_timer_callback_->right_timer_id = win.second.interactor_->CreateRepeatingTimer (time);
 
       // Set the correct interactor for callbacks
-      exit_main_loop_timer_callback_->interact = (*am_it).second.interactor_;
-      (*am_it).second.interactor_->Start ();
-      (*am_it).second.interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
+      exit_main_loop_timer_callback_->interact = win.second.interactor_;
+      win.second.interactor_->Start ();
+      win.second.interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
     );
   }
 }
@@ -119,21 +119,21 @@ pcl::visualization::PCLHistogramVisualizer::setBackgroundColor (const double &r,
     ++i;
   }
   */
-  for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
+  for (auto &win : wins_)
   {
-    (*am_it).second.ren_->SetBackground (r, g, b);
-    (*am_it).second.ren_->Render ();
+    win.second.ren_->SetBackground (r, g, b);
+    win.second.ren_->Render ();
   }
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 void 
 pcl::visualization::PCLHistogramVisualizer::setGlobalYRange (float minp, float maxp)
 {
-  for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
+  for (auto &win : wins_)
   {
-    (*am_it).second.xy_plot_->SetYRange (minp, maxp);
-    (*am_it).second.xy_plot_->Modified ();
+    win.second.xy_plot_->SetYRange (minp, maxp);
+    win.second.xy_plot_->Modified ();
   }
 }
 
@@ -142,15 +142,15 @@ void
 pcl::visualization::PCLHistogramVisualizer::updateWindowPositions ()
 {
   int posx = 0, posy = 0;
-  for (RenWinInteractMap::iterator am_it = wins_.begin (); am_it != wins_.end (); ++am_it)
+  for (auto &win : wins_)
   {
     // Get the screen size
-    int *scr_size = (*am_it).second.win_->GetScreenSize ();
-    int *win_size = (*am_it).second.win_->GetActualSize ();
+    int *scr_size = win.second.win_->GetScreenSize ();
+    int *win_size = win.second.win_->GetActualSize ();
 
     // Update the position of the current window
-    (*am_it).second.win_->SetPosition (posx, posy);
-    (*am_it).second.win_->Modified ();
+    win.second.win_->SetPosition (posx, posy);
+    win.second.win_->Modified ();
     // If there is space on Y, go on Y first
     if ((posy + win_size[1]) <= scr_size[1]) 
       posy += win_size[1];
@@ -353,8 +353,8 @@ pcl::visualization::PCLHistogramVisualizer::addFeatureHistogram (
 
   // Compute the total size of the fields
   unsigned int fsize = 0;
-  for (size_t i = 0; i < cloud.fields.size (); ++i)
-    fsize += cloud.fields[i].count * pcl::getFieldSize (cloud.fields[i].datatype);
+  for (const auto &field : cloud.fields)
+    fsize += field.count * pcl::getFieldSize (field.datatype);
 
   // Parse the cloud data and store it in the array
   double xy[2];
@@ -448,8 +448,8 @@ pcl::visualization::PCLHistogramVisualizer::updateFeatureHistogram (
 
   // Compute the total size of the fields
   unsigned int fsize = 0;
-  for (size_t i = 0; i < cloud.fields.size (); ++i)
-    fsize += cloud.fields[i].count * pcl::getFieldSize (cloud.fields[i].datatype);
+  for (const auto &field : cloud.fields)
+    fsize += field.count * pcl::getFieldSize (field.datatype);
 
   // Parse the cloud data and store it in the array
   double xy[2];

visualization/src/image_viewer.cpp

@@ -386,8 +386,8 @@ pcl::visualization::ImageViewer::spinOnce (int time, bool force_redraw)
     interactor_->Start ();
     interactor_->DestroyTimer (exit_main_loop_timer_callback_->right_timer_id);
   );
-  for(size_t i = 0; i < image_data_.size(); i++)
-	  delete [] image_data_[i];
+  for(auto &i : image_data_)
+    delete [] i;
   image_data_.clear ();
 }
 
@@ -871,8 +871,8 @@ void
 pcl::visualization::ImageViewer::render ()
 {
   win_->Render ();
-  for(size_t i = 0; i < image_data_.size(); i++)
-	  delete [] image_data_[i];
+  for(auto &i : image_data_)
+    delete [] i;
   image_data_.clear ();
 }
 
@@ -883,9 +883,9 @@ pcl::visualization::ImageViewer::convertIntensityCloudToUChar (
     boost::shared_array<unsigned char> data)
 {
   int j = 0;
-  for (size_t i = 0; i < cloud.points.size (); ++i)
+  for (const auto &point : cloud.points)
   {
-    data[j++] = static_cast <unsigned char> (cloud.points[i].intensity * 255);
+    data[j++] = static_cast <unsigned char> (point.intensity * 255);
   }
 }
 
@@ -896,8 +896,8 @@ pcl::visualization::ImageViewer::convertIntensityCloud8uToUChar (
     boost::shared_array<unsigned char> data)
 {
   int j = 0;
-  for (size_t i = 0; i < cloud.points.size (); ++i)
-    data[j++] = static_cast<unsigned char> (cloud.points[i].intensity);
+  for (const auto &point : cloud.points)
+    data[j++] = static_cast<unsigned char> (point.intensity);
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////