Add more bugprone-* clang-tidy checks, Part B (#6380)

* Add more bugprone-I clang-tidy checks, Part B

* Fix numerous clang-format escapes

* Fix more clang-format escapes

* Fix yet more clang-format issues

* Yeah, more clang-format issues

* Revert odd clang-tidy 'fix'

* Restore missing operator=

* Revert weird clang-tidy 'fix'

* Add [[maybe_unused]] to parameters

* Fix typo in initialization list

* Remove extraneous parentheses in return statement

* Address review comments

* Check dynamic_cast output for nullptr before dereferencing

* Check dynamic_cast output before dereferencing in modeler

* Add nullptr checks to existing dynamic_cast

* Address review comments

* Fix clang-format escapes

* Fix a missing return value

* Address review comments

Author: gnawme

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pc_source/source.h

@@ -51,8 +51,7 @@ class Model {
     if (resolution <= 0)
       return assembled_;
 
-    typename std::map<float, PointTPtrConst>::iterator it =
-        voxelized_assembled_.find(resolution);
+    auto it = voxelized_assembled_.find(resolution);
     if (it == voxelized_assembled_.end()) {
       PointTPtr voxelized(new pcl::PointCloud<PointT>);
       pcl::VoxelGrid<PointT> grid_;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_crh.hpp

@@ -22,11 +22,7 @@ pcl::rec_3d_framework::GlobalNNCRHRecognizer<Distance, PointInT, FeatureT>::getP
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/global_nn_recognizer_cvfh.hpp

@@ -22,11 +22,7 @@ pcl::rec_3d_framework::GlobalNNCVFHRecognizer<Distance, PointInT, FeatureT>::get
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/local_recognizer.hpp

@@ -460,11 +460,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::g
     using mv_pair = std::pair<std::string, int>;
     mv_pair pair_model_view = std::make_pair(model.id_, view_id);
 
-    std::map<mv_pair,
-             Eigen::Matrix4f,
-             std::less<>,
-             Eigen::aligned_allocator<std::pair<const mv_pair, Eigen::Matrix4f>>>::
-        iterator it = poses_cache_.find(pair_model_view);
+    auto it = poses_cache_.find(pair_model_view);
 
     if (it != poses_cache_.end()) {
       pose_matrix = it->second;
@@ -489,8 +485,7 @@ pcl::rec_3d_framework::LocalRecognitionPipeline<Distance, PointInT, FeatureT>::
 
   if (use_cache_) {
     std::pair<std::string, int> pair_model_view = std::make_pair(model.id_, view_id);
-    typename std::map<std::pair<std::string, int>, PointInTPtr>::iterator it =
-        keypoints_cache_.find(pair_model_view);
+    auto it = keypoints_cache_.find(pair_model_view);
 
     if (it != keypoints_cache_.end()) {
       keypoints_cloud = it->second;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/local_recognizer.h

@@ -195,7 +195,7 @@ class PCL_EXPORTS LocalRecognitionPipeline {
   }
 
 public:
-  LocalRecognitionPipeline() : search_model_("")
+  LocalRecognitionPipeline()
   {
     use_cache_ = false;
     threshold_accept_model_hypothesis_ = 0.2f;

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/tools/openni_frame_source.h

@@ -31,9 +31,9 @@ class PCL_EXPORTS OpenNIFrameSource {
 
   pcl::OpenNIGrabber grabber_;
   PointCloudPtr most_recent_frame_;
-  int frame_counter_;
+  int frame_counter_{0};
   std::mutex mutex_;
-  bool active_;
+  bool active_{true};
 };
 
 } // namespace OpenNIFrameSource

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/utils/persistence_utils.h

@@ -54,7 +54,7 @@ writeMatrixToFile(const std::string& file, Eigen::Matrix4f& matrix)
   for (std::size_t i = 0; i < 4; i++) {
     for (std::size_t j = 0; j < 4; j++) {
       out << matrix(i, j);
-      if (!(i == 3 && j == 3))
+      if (i != 3 || j != 3)
         out << " ";
     }
   }

apps/3d_rec_framework/src/tools/local_recognition_mian_dataset.cpp

@@ -102,7 +102,7 @@ recognizeAndVisualize(
     for (std::size_t i = 0; i < files.size(); i++) {
       std::cout << files[i] << std::endl;
       if (scene != -1)
-        if ((std::size_t)scene != i)
+        if (static_cast<std::size_t>(scene) != i)
           continue;
 
       const std::string file = ply_files_dir.string() + files[i];

apps/3d_rec_framework/src/tools/openni_frame_source.cpp

@@ -4,8 +4,7 @@
 
 namespace OpenNIFrameSource {
 
-OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id)
-: grabber_(device_id), frame_counter_(0), active_(true)
+OpenNIFrameSource::OpenNIFrameSource(const std::string& device_id) : grabber_(device_id)
 {
   std::function<void(const PointCloudConstPtr&)> frame_cb =
       [this](const PointCloudConstPtr& cloud) { onNewFrame(cloud); };

apps/cloud_composer/include/pcl/apps/cloud_composer/commands.h

@@ -54,7 +54,7 @@ class CloudCommand : public QUndoCommand {
 public:
   CloudCommand(ConstItemList input_data, QUndoCommand* parent = nullptr);
 
-  ~CloudCommand();
+  ~CloudCommand() override;
 
   virtual bool
   runCommand(AbstractTool* tool) = 0;
@@ -112,8 +112,8 @@ class CloudCommand : public QUndoCommand {
   bool
   canUseTemplates(ConstItemList& input_data);
 
-  bool can_use_templates_;
-  int template_type_;
+  bool can_use_templates_{false};
+  int template_type_{-1};
 };
 
 class ModifyItemCommand : public CloudCommand {