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Fix sign-compare warnings issued by AppleClang #3777

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merged 5 commits into from
Mar 23, 2020
Merged

Fix sign-compare warnings issued by AppleClang #3777

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006f209
First bunch of -Wsign-compare
kunaltyagi Mar 23, 2020
a2a9130
Second bunch of -Wsign-compare
kunaltyagi Mar 23, 2020
9b14cb6
Testing, might make this available in common
kunaltyagi Mar 23, 2020
e3e2699
Using Eigen::Matrix::Index directly
kunaltyagi Mar 23, 2020
0900001
removing unneeded header
kunaltyagi Mar 23, 2020
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8 changes: 4 additions & 4 deletions features/include/pcl/features/impl/board.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePo
//extract support points for Rz radius
std::vector<int> neighbours_indices;
std::vector<float> neighbours_distances;
int n_neighbours = this->searchForNeighbors (index, search_parameter_, neighbours_indices, neighbours_distances);
std::size_t n_neighbours = this->searchForNeighbors (index, search_parameter_, neighbours_indices, neighbours_distances);

//check if there are enough neighbor points, otherwise compute a random X axis and use normal as Z axis
if (n_neighbours < 6)
Expand All @@ -206,7 +206,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePo

//copy neighbours coordinates into eigen matrix
Eigen::Matrix<float, Eigen::Dynamic, 3> neigh_points_mat (n_neighbours, 3);
for (int i = 0; i < n_neighbours; ++i)
for (std::size_t i = 0; i < n_neighbours; ++i)
{
neigh_points_mat.row (i) = (*surface_)[neighbours_indices[i]].getVector3fMap ();
}
Expand Down Expand Up @@ -311,7 +311,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePo
if (!margin_point_found)
{
//find among points with neighDistance <= marginThresh*radius
for (int curr_neigh = 0; curr_neigh < n_neighbours; curr_neigh++)
for (std::size_t curr_neigh = 0; curr_neigh < n_neighbours; curr_neigh++)
{
const int& curr_neigh_idx = neighbours_indices[curr_neigh];
const float& neigh_distance_sqr = neighbours_distances[curr_neigh];
Expand Down Expand Up @@ -448,7 +448,7 @@ pcl::BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT>::computePo
float max_hole_prob = -std::numeric_limits<float>::max ();

//find holes
for (auto ch = first_no_border; ch < check_margin_array_size_; ch++)
for (auto ch = first_no_border; ch < static_cast<std::size_t>(check_margin_array_size_); ch++)
{
if (!check_margin_array_[ch])
{
Expand Down
3 changes: 2 additions & 1 deletion features/include/pcl/features/impl/cppf.hpp
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Expand Up @@ -71,7 +71,8 @@ pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
{
PointOutT p;
// No need to calculate feature for identity pair (i, j) as they aren't used in future calculations
if (i != j)
// @TODO: resolve issue with comparison in a better manner
if (static_cast<std::size_t>(i) != j)
{
if (
pcl::computeCPPFPairFeature (input_->points[i].getVector4fMap (),
Expand Down
6 changes: 3 additions & 3 deletions features/include/pcl/features/impl/flare.hpp
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Expand Up @@ -81,7 +81,7 @@ template<typename PointInT, typename PointNT, typename PointOutT, typename Signe
}

if (sampled_tree_->getInputCloud () != sampled_surface_) // Make sure the tree searches the sampled surface
sampled_tree_->setInputCloud (sampled_surface_);
sampled_tree_->setInputCloud (sampled_surface_);

return (true);
}
Expand Down Expand Up @@ -121,7 +121,7 @@ template<typename PointInT, typename PointNT, typename PointOutT, typename Signe

const std::size_t n_normal_neighbours =
this->searchForNeighbors (index, search_parameter_, neighbours_indices, neighbours_distances);
if (n_normal_neighbours < min_neighbors_for_normal_axis_)
if (n_normal_neighbours < static_cast<std::size_t>(min_neighbors_for_normal_axis_))
{
if (!pcl::isFinite ((*normals_)[index]))
{
Expand Down Expand Up @@ -158,7 +158,7 @@ template<typename PointInT, typename PointNT, typename PointOutT, typename Signe
const std::size_t n_tangent_neighbours =
sampled_tree_->radiusSearch ((*input_)[index], tangent_radius_, neighbours_indices, neighbours_distances);

if (n_tangent_neighbours < min_neighbors_for_tangent_axis_)
if (n_tangent_neighbours < static_cast<std::size_t>(min_neighbors_for_tangent_axis_))
{
//set X axis as a random axis
x_axis = pcl::geometry::randomOrthogonalAxis (fitted_normal);
Expand Down
14 changes: 7 additions & 7 deletions features/include/pcl/features/impl/fpfh.hpp
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Expand Up @@ -57,7 +57,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computePairFeatures (
}

//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computePointSPFHSignature (
const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
int p_idx, int row, const std::vector<int> &indices,
Expand Down Expand Up @@ -133,21 +133,21 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::weightPointSPFHSignature (
weight = 1.0f / dists[idx];

// Weight the SPFH of the query point with the SPFH of its neighbors
for (std::size_t f1_i = 0; f1_i < nr_bins_f1; ++f1_i)
for (Eigen::MatrixXf::Index f1_i = 0; f1_i < nr_bins_f1; ++f1_i)
{
val_f1 = hist_f1 (indices[idx], f1_i) * weight;
sum_f1 += val_f1;
fpfh_histogram[f1_i] += val_f1;
}

for (std::size_t f2_i = 0; f2_i < nr_bins_f2; ++f2_i)
for (Eigen::MatrixXf::Index f2_i = 0; f2_i < nr_bins_f2; ++f2_i)
{
val_f2 = hist_f2 (indices[idx], f2_i) * weight;
sum_f2 += val_f2;
fpfh_histogram[f2_i + nr_bins_f1] += val_f2;
}

for (std::size_t f3_i = 0; f3_i < nr_bins_f3; ++f3_i)
for (Eigen::MatrixXf::Index f3_i = 0; f3_i < nr_bins_f3; ++f3_i)
{
val_f3 = hist_f3 (indices[idx], f3_i) * weight;
sum_f3 += val_f3;
Expand Down Expand Up @@ -258,7 +258,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
continue;
}

// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices
// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices
// instead of indices into surface_->points
for (auto &nn_index : nn_indices)
nn_index = spfh_hist_lookup[nn_index];
Expand All @@ -285,7 +285,7 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
continue;
}

// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices
// ... and remap the nn_indices values so that they represent row indices in the spfh_hist_* matrices
// instead of indices into surface_->points
for (auto &nn_index : nn_indices)
nn_index = spfh_hist_lookup[nn_index];
Expand All @@ -301,5 +301,5 @@ pcl::FPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut

#define PCL_INSTANTIATE_FPFHEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::FPFHEstimation<T,NT,OutT>;

#endif // PCL_FEATURES_IMPL_FPFH_H_
#endif // PCL_FEATURES_IMPL_FPFH_H_

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