memset for Eigen::Matrix in integral_image2D.cpp

[kunaltyagi]

Lines 159, 190 in file features/include/pcl/features/impl/integral_image2D.hpp:

pcl/features/include/pcl/features/impl/integral_image2D.hpp

Line 159 in 8ab5ae4

memset (previous_row, 0, sizeof (ElementType) * (width_ + 1));

pcl/features/include/pcl/features/impl/integral_image2D.hpp

Line 190 in 8ab5ae4

memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1));

memset is being called upon ElementType and SecondOrderType which are template parameter. As such I don't see a way out of the warning, unless we are guaranteed that types have data field if it has no trivial copy-assignment

[taketwo]

Could you please post the warning you are talking about?

[kunaltyagi]

In file included from ../features/include/pcl/features/integral_image2D.h:346,
                 from ../features/include/pcl/features/integral_image_normal.h:45,
                 from ../features/include/pcl/features/impl/integral_image_normal.hpp:42,
                 from ../features/src/integral_image_normal.cpp:39:
../features/include/pcl/features/impl/integral_image2D.hpp: In instantiation of ‘void
pcl::IntegralImage2D<DataType, Dimension>::computeIntegralImages(const DataType*,
unsigned int, unsigned int) [with DataType = float; unsigned int Dimension = 3]’:
../features/include/pcl/features/impl/integral_image2D.hpp:65:3:   required from ‘void
pcl::IntegralImage2D<DataType, Dimension>::setInput(const DataType*, unsigned int,
unsigned int, unsigned int, unsigned int) [with DataType = float; unsigned int Dimension
= 3]’
../features/include/pcl/features/impl/integral_image_normal.hpp:133:23:   required from
‘void pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::initCovarianceMatrixMethod()
[with PointInT = pcl::PointXYZ; PointOutT = pcl::Normal]’
../features/src/integral_image_normal.cpp:48:3:   required from here
../features/include/pcl/features/impl/integral_image2D.hpp:159:10: warning: ‘void*
memset(void*, int, size_t)’ clearing an object of type ‘using ElementType = class
Eigen::Matrix<double, 3, 1>’ {aka ‘class Eigen::Matrix<double, 3, 1>’} with no trivial
copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
  159 |   memset (previous_row, 0, sizeof (ElementType) * (width_ + 1));
      |   ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:458,
                 from ../common/include/pcl/pcl_macros.h:73,
                 from ../features/include/pcl/features/integral_image_normal.h:41,
                 from ../features/include/pcl/features/impl/integral_image_normal.hpp:42,
                 from ../features/src/integral_image_normal.cpp:39:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:178:7: note: ‘using ElementType = class
Eigen::Matrix<double, 3, 1>’ {aka ‘class Eigen::Matrix<double, 3, 1>’} declared here
  178 | class Matrix
      |       ^~~~~~
In file included from ../features/include/pcl/features/integral_image2D.h:346,
                 from ../features/include/pcl/features/integral_image_normal.h:45,
                 from ../features/include/pcl/features/impl/integral_image_normal.hpp:42,
                 from ../features/src/integral_image_normal.cpp:39:
../features/include/pcl/features/impl/integral_image2D.hpp:190:12: warning: ‘void*
memset(void*, int, size_t)’ clearing an object of type ‘using SecondOrderType = class
Eigen::Matrix<double, 6, 1, 0, 6, 1>’ {aka ‘class Eigen::Matrix<double, 6, 1, 0, 6, 1>’} with
no trivial copy-assignment; use assignment or value-initialization instead
[-Wclass-memaccess]
  190 |     memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1));
         |  ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:458,
                 from ../common/include/pcl/pcl_macros.h:73,
                 from ../features/include/pcl/features/integral_image_normal.h:41,
                 from ../features/include/pcl/features/impl/integral_image_normal.hpp:42,
                 from ../features/src/integral_image_normal.cpp:39:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:178:7: note: ‘using SecondOrderType =
class Eigen::Matrix<double, 6, 1, 0, 6, 1>’ {aka ‘class Eigen::Matrix<double, 6, 1, 0, 6, 1>’}
declared here
  178 | class Matrix
      |       ^~~~~~

[taketwo]

I don't see a way out of this without at least minor refactoring of the code.

first_order_integral_image_ may be converted from an std::vector of Eigen::Vectors into a two-dimensional Eigen::Matrix. Then memset can be replaced with selection of certain rows (or columns) and calling setZero() on them.

[stale]

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