Ran clang-tidy on optional modules (PointCloudLibrary#5318)

* Ran clang-tidy on apps, apps_3d_rec_framework [PCL-5304]

* Ran clang-tidy on apps_cloud_composer through apps_point_cloud_editor

* Ran clang-tidy on benchmarks through global_tests

* Fixed issues flagged by clang-format [PCL-5304]

* Fixed remaining clang-format issue [PCL-5304]

* Added first set of optional modules to clang-tidy, and fixes

* Fixed clang-tidy issues from optional modules [PCL-5304]

* Added NOLINT to work around clang-tidy issue [PCL-5304]

* Omitted apps module to test effect on clang-tidy [PCL-5304]

* Enabled apps* modules for clang-tidy

* Switched to tidy non-apps* optional modules [PCL-5304]

.github/workflows/clang-tidy.yml

@@ -14,5 +14,10 @@ jobs:
     - name: Run clang-tidy
       run: |
           bash -c "$(wget -O - https://apt.llvm.org/llvm.sh)"
-          cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_COMPILER=/usr/bin/clang-14 -DCMAKE_C_COMPILER=/usr/bin/clang-14 .
+          cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_CXX_COMPILER=/usr/bin/clang-14 -DCMAKE_C_COMPILER=/usr/bin/clang-14 . \
+            -DBUILD_benchmarks=ON \
+            -DBUILD_examples=ON \
+            -DBUILD_simulation=ON \
+            -DBUILD_global_tests=ON
+        
           run-clang-tidy -header-filter='.*'

2d/include/pcl/2d/keypoint.h

@@ -52,7 +52,7 @@ class Keypoint {
   Convolution<ImageType> conv_2d;
 
 public:
-  Keypoint() {}
+  Keypoint() = default;
 
   void
   harrisCorner(ImageType& output,

2d/include/pcl/2d/morphology.h

@@ -52,7 +52,7 @@ class Morphology : public PCLBase<PointT> {
 public:
   using PCLBase<PointT>::input_;
 
-  Morphology() {}
+  Morphology() = default;
 
   /** \brief This function performs erosion followed by dilation.
    * It is useful for removing noise in the form of small blobs and patches.

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/global/crh_estimator.h

@@ -28,7 +28,7 @@ class CRHEstimation : public GlobalEstimator<PointInT, FeatureT> {
   std::vector<CRHPointCloud::Ptr> crh_histograms_;
 
 public:
-  CRHEstimation() {}
+  CRHEstimation() = default;
 
   void
   setFeatureEstimator(

apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h

@@ -215,7 +215,7 @@ class SIFTSurfaceKeypointExtractor : public KeypointExtractor<PointInT> {
   void
   compute(PointInTPtr& keypoints)
   {
-    if (normals_ == 0 || (normals_->size() != input_->size()))
+    if (normals_ == nullptr || (normals_->size() != input_->size()))
       PCL_WARN("SIFTSurfaceKeypointExtractor -- Normals are not valid\n");
 
     keypoints.reset(new pcl::PointCloud<PointInT>);
@@ -297,7 +297,7 @@ class HarrisKeypointExtractor : public KeypointExtractor<PointInT> {
   {
     keypoints.reset(new pcl::PointCloud<PointInT>);
 
-    if (normals_ == 0 || (normals_->size() != input_->size()))
+    if (normals_ == nullptr || (normals_->size() != input_->size()))
       PCL_WARN("HarrisKeypointExtractor -- Normals are not valid\n");
 
     typename pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_keypoints(
@@ -327,7 +327,7 @@ class SUSANKeypointExtractor : public KeypointExtractor<PointInT> {
   using KeypointExtractor<PointInT>::radius_;
 
 public:
-  SUSANKeypointExtractor() {}
+  SUSANKeypointExtractor() = default;
 
   bool
   needNormals()
@@ -346,7 +346,7 @@ class SUSANKeypointExtractor : public KeypointExtractor<PointInT> {
   {
     keypoints.reset(new pcl::PointCloud<PointInT>);
 
-    if (normals_ == 0 || (normals_->size() != input_->size()))
+    if (normals_ == nullptr || (normals_->size() != input_->size()))
       PCL_WARN("SUSANKeypointExtractor -- Normals are not valid\n");
 
     typename pcl::PointCloud<pcl::PointXYZI>::Ptr intensity_keypoints(

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

@@ -131,7 +131,7 @@ class PCL_EXPORTS GlobalNNPipeline
 public:
   GlobalNNPipeline() { NN_ = 1; }
 
-  ~GlobalNNPipeline() {}
+  ~GlobalNNPipeline() = default;
 
   void
   setNN(int nn) override

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

@@ -153,7 +153,7 @@ class PCL_EXPORTS GlobalNNCRHRecognizer {
     do_CRH_ = true;
   }
 
-  ~GlobalNNCRHRecognizer() {}
+  ~GlobalNNCRHRecognizer() = default;
 
   void
   setNoise(float n)

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

@@ -213,7 +213,7 @@ class PCL_EXPORTS GlobalNNCVFHRecognizer {
     use_single_categories_ = false;
   }
 
-  ~GlobalNNCVFHRecognizer() {}
+  ~GlobalNNCVFHRecognizer() = default;
 
   void
   getDescriptorDistances(std::vector<float>& ds)

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

@@ -233,7 +233,7 @@ class PCL_EXPORTS LocalRecognitionPipeline {
     threshold_accept_model_hypothesis_ = t;
   }
 
-  ~LocalRecognitionPipeline() {}
+  ~LocalRecognitionPipeline() = default;
 
   void
   setKdtreeSplits(int n)

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/help_window.h

@@ -53,7 +53,7 @@ class HelpWindow : public QDialog {
 
 public:
   explicit HelpWindow(QWidget* parent = nullptr);
-  ~HelpWindow();
+  ~HelpWindow() override;
 
 private:
   Ui::HelpWindow* ui;

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/in_hand_scanner.h

@@ -121,7 +121,7 @@ class PCL_EXPORTS InHandScanner : public pcl::ihs::OpenGLViewer {
   explicit InHandScanner(Base* parent = nullptr);
 
   /** \brief Destructor. */
-  ~InHandScanner();
+  ~InHandScanner() override;
 
   /** \brief Get the input data processing. */
   inline InputDataProcessing&
@@ -224,16 +224,16 @@ public Q_SLOTS:
    * documentation of calcFPS. */
   class ComputationFPS : public Base::FPS {
   public:
-    ComputationFPS() {}
-    ~ComputationFPS() {}
+    ComputationFPS() = default;
+    ~ComputationFPS() = default;
   };
 
   /** \brief Helper object for the visualization thread. Please have a look at the
    * documentation of calcFPS. */
   class VisualizationFPS : public Base::FPS {
   public:
-    VisualizationFPS() {}
-    ~VisualizationFPS() {}
+    VisualizationFPS() = default;
+    ~VisualizationFPS() = default;
   };
 
   /** \brief Called when new data arries from the grabber. The grabbing - registration -

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/main_window.h

@@ -73,7 +73,7 @@ class MainWindow : public QMainWindow {
   using RunningMode = InHandScanner::RunningMode;
 
   explicit MainWindow(QWidget* parent = nullptr);
-  ~MainWindow();
+  ~MainWindow() override;
 
 public Q_SLOTS:
 

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/offline_integration.h

@@ -84,7 +84,7 @@ class PCL_EXPORTS OfflineIntegration : public pcl::ihs::OpenGLViewer {
   explicit OfflineIntegration(Base* parent = nullptr);
 
   /** \brief Destructor. */
-  ~OfflineIntegration();
+  ~OfflineIntegration() override;
 
 public Q_SLOTS:
 
@@ -126,16 +126,16 @@ private Q_SLOTS:
    * documentation of calcFPS. */
   class ComputationFPS : public Base::FPS {
   public:
-    ComputationFPS() {}
-    ~ComputationFPS() {}
+    ComputationFPS() = default;
+    ~ComputationFPS() = default;
   };
 
   /** \brief Helper object for the visualization thread. Please have a look at the
    * documentation of calcFPS. */
   class VisualizationFPS : public Base::FPS {
   public:
-    VisualizationFPS() {}
-    ~VisualizationFPS() {}
+    VisualizationFPS() = default;
+    ~VisualizationFPS() = default;
   };
 
   /** \brief Get a list of files with from a given directory.

apps/in_hand_scanner/include/pcl/apps/in_hand_scanner/opengl_viewer.h

@@ -174,7 +174,7 @@ class PCL_EXPORTS OpenGLViewer : public QGLWidget {
   explicit OpenGLViewer(QWidget* parent = nullptr);
 
   /** \brief Destructor. */
-  ~OpenGLViewer();
+  ~OpenGLViewer() override;
 
   /** \brief Add a mesh to be drawn.
    *
@@ -324,7 +324,7 @@ public Q_SLOTS:
     }
 
   protected:
-    ~FPS() {}
+    ~FPS() = default;
 
   private:
     double fps_;

apps/in_hand_scanner/src/mesh_processing.cpp

@@ -45,7 +45,7 @@
 
 ////////////////////////////////////////////////////////////////////////////////
 
-pcl::ihs::MeshProcessing::MeshProcessing() {}
+pcl::ihs::MeshProcessing::MeshProcessing() = default;
 
 ////////////////////////////////////////////////////////////////////////////////
 

apps/include/pcl/apps/manual_registration.h

@@ -78,7 +78,7 @@ class ManualRegistration : public QMainWindow {
 
   ManualRegistration();
 
-  ~ManualRegistration() {}
+  ~ManualRegistration() override = default;
 
   void
   setSrcCloud(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_src)

apps/include/pcl/apps/openni_passthrough.h

@@ -76,7 +76,7 @@ class OpenNIPassthrough : public QMainWindow {
 
   OpenNIPassthrough(pcl::OpenNIGrabber& grabber);
 
-  ~OpenNIPassthrough()
+  ~OpenNIPassthrough() override
   {
     if (grabber_.isRunning())
       grabber_.stop();

apps/include/pcl/apps/organized_segmentation_demo.h

@@ -84,7 +84,7 @@ class OrganizedSegmentationDemo : public QMainWindow {
 
   OrganizedSegmentationDemo(pcl::Grabber& grabber);
 
-  ~OrganizedSegmentationDemo()
+  ~OrganizedSegmentationDemo() override
   {
     if (grabber_.isRunning())
       grabber_.stop();

apps/include/pcl/apps/pcd_video_player.h

@@ -83,7 +83,7 @@ class PCDVideoPlayer : public QMainWindow {
 
   PCDVideoPlayer();
 
-  ~PCDVideoPlayer() {}
+  ~PCDVideoPlayer() override = default;
 
 protected:
   void

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudEditorWidget.h

@@ -69,7 +69,7 @@ class CloudEditorWidget : public QGLWidget
     CloudEditorWidget (QWidget *parent = nullptr);
 
     /// @brief Destructor
-    ~CloudEditorWidget ();
+    ~CloudEditorWidget () override;
 
     /// @brief Attempts to load the point cloud designated by the passed file
     /// name.

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudTransformTool.h

@@ -55,7 +55,7 @@ class CloudTransformTool : public ToolInterface
     CloudTransformTool (CloudPtr cloud_ptr);
 
     /// @brief Destructor
-    ~CloudTransformTool ();
+    ~CloudTransformTool () override;
 
     /// @brief Initialize the current transform with mouse screen coordinates
     /// and key modifiers.

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/command.h

@@ -50,8 +50,7 @@ class Command
   public:
     /// @brief Destructor
     virtual ~Command ()
-    {
-    }
+    = default;
 
   protected:
     /// Allows command queues to be the only objects which are able to execute

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/commandQueue.h

@@ -65,8 +65,7 @@ class CommandQueue
 
     /// @brief Destructor
     ~CommandQueue ()
-    {
-    }
+    = default;
 
     /// @brief Executes a command. If the command has an undo function, then
     /// adds the command to the queue.

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cutCommand.h

@@ -69,7 +69,7 @@ class CutCommand : public Command
     operator= (const CutCommand&) = delete;
 
     /// @brief Destructor
-    ~CutCommand ();
+    ~CutCommand () override;
 
   protected:
     /// @brief Moves the selected points to the copy buffer and removes them

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/denoiseParameterForm.h

@@ -56,7 +56,7 @@ class DenoiseParameterForm : public QDialog
     DenoiseParameterForm();
 
     /// @brief Destructor
-    ~DenoiseParameterForm ();
+    ~DenoiseParameterForm () override;
 
     /// @brief Returns the mean
     inline

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/mainWindow.h

@@ -73,7 +73,7 @@ class MainWindow : public QMainWindow
     MainWindow (int argc, char **argv);
 
     /// @brief Destructor
-    ~MainWindow ();
+    ~MainWindow () override;
 
     /// @brief Increase the value of the spinbox by 1.
     void

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select1DTool.h

@@ -58,9 +58,8 @@ class Select1DTool : public ToolInterface
     Select1DTool (SelectionPtr selection_ptr, CloudPtr cloud_ptr);
 
     /// @brief Destructor
-    ~Select1DTool ()
-    {
-    }
+    ~Select1DTool () override
+    = default;
 
     /// @brief Does nothing for 1D selection.
     /// @sa end

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/select2DTool.h

@@ -60,7 +60,7 @@ class Select2DTool : public ToolInterface
     Select2DTool (SelectionPtr selection_ptr, CloudPtr cloud_ptr);
 
     /// @brief Destructor
-    ~Select2DTool ();
+    ~Select2DTool () override;
 
     /// @brief Initializes the selection tool with the initial mouse screen
     /// coordinates and key modifiers. The passed coordinates are used for

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/selectionTransformTool.h

@@ -69,9 +69,8 @@ class SelectionTransformTool : public ToolInterface
                             CommandQueuePtr command_queue_ptr);
 
     /// @brief Destructor
-    ~SelectionTransformTool ()
-    {
-    }
+    ~SelectionTransformTool () override
+    = default;
 
     /// @brief Initialize the transform tool with mouse screen coordinates
     /// and key modifiers.

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/statistics.h

@@ -49,8 +49,7 @@ class Statistics
   public:
     /// @brief Destructor
     virtual ~Statistics ()
-    {
-    }
+    = default;
 
     /// @brief Returns the strings of the statistics.
     static
@@ -64,8 +63,7 @@ class Statistics
   protected:
     /// @brief The default constructor.
     Statistics ()
-    {
-    }
+    = default;
 
     /// @brief Copy Constructor
     Statistics (const Statistics&)

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/statisticsDialog.h

@@ -58,7 +58,7 @@ class StatisticsDialog : public QDialog
     /// @brief Default Constructor
     StatisticsDialog(QWidget *parent = nullptr);
     /// @brief Destructor
-    ~StatisticsDialog ();
+    ~StatisticsDialog () override;
 
   public Q_SLOTS:
     /// @brief update the dialog box.

apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/toolInterface.h

@@ -49,8 +49,7 @@ class ToolInterface
   public:
     /// @brief Destructor.
     virtual ~ToolInterface ()
-    {
-    }
+    = default;
 
     /// @brief set the initial state of the tool from the screen coordinates
     /// of the mouse as well as the value of the modifier.
@@ -102,8 +101,7 @@ class ToolInterface
   protected:
     /// @brief Default constructor
     ToolInterface ()
-    {
-    }
+    = default;
 
   private:
     /// @brief Copy constructor - tools are non-copyable