Added readability-container-data-pointer clang-tidy check (PointCloudLibrary#5588)

* Added readability-container-data-pointer clang-tidy check


Removed extraneous parentheses left from conversion to data()


Removed extraneous conversion to data()


Disabled clang-tidy for more Eigen::Vector4f


Fixed typo in NOLINTEND


Fixed another Eigen::Vector4f clang-tidy escape

Added more NOLINT for readability-container-data-pointer check

* Revised per review

* Consolidated duplicated code per review

Author: gnawme

.clang-tidy

@@ -23,6 +23,7 @@ Checks: >
     performance-no-automatic-move,
     performance-noexcept-move-constructor,
     performance-type-promotion-in-math-fn,
+    readability-container-data-pointer,
     readability-container-size-empty,
     readability-delete-null-pointer,
     readability-duplicate-include,

common/include/pcl/common/impl/intersections.hpp

@@ -70,8 +70,8 @@ lineWithLineIntersection (const pcl::ModelCoefficients &line_a,
                           const pcl::ModelCoefficients &line_b,
                           Eigen::Vector4f &point, double sqr_eps)
 {
-  Eigen::VectorXf coeff1 = Eigen::VectorXf::Map (&line_a.values[0], line_a.values.size ());
-  Eigen::VectorXf coeff2 = Eigen::VectorXf::Map (&line_b.values[0], line_b.values.size ());
+  Eigen::VectorXf coeff1 = Eigen::VectorXf::Map (line_a.values.data(), line_a.values.size ());
+  Eigen::VectorXf coeff2 = Eigen::VectorXf::Map (line_b.values.data(), line_b.values.size ());
   return (lineWithLineIntersection (coeff1, coeff2, point, sqr_eps));
 }
 

common/include/pcl/common/impl/io.hpp

@@ -133,7 +133,7 @@ namespace detail
                         pcl::PointCloud<PointT> &cloud_out)
   {
     // Use std::copy directly, if the point types of two clouds are same
-    std::copy (&cloud_in[0], (&cloud_in[0]) + cloud_in.size (), &cloud_out[0]);
+    std::copy (cloud_in.data(), cloud_in.data() + cloud_in.size (), cloud_out.data());
   }
 
 } // namespace detail
@@ -360,8 +360,8 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT>
 
     if (border_type == pcl::BORDER_TRANSPARENT)
     {
-      const PointT* in = &(cloud_in[0]);
-      PointT* out = &(cloud_out[0]);
+      const PointT* in = cloud_in.data();
+      PointT* out = cloud_out.data();
       PointT* out_inner = out + cloud_out.width*top + left;
       for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
       {
@@ -387,8 +387,8 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT>
           for (int i = 0; i < right; i++)
             padding[i+left] = pcl::interpolatePointIndex (cloud_in.width+i, cloud_in.width, border_type);
 
-          const PointT* in = &(cloud_in[0]);
-          PointT* out = &(cloud_out[0]);
+          const PointT* in = cloud_in.data();
+          PointT* out = cloud_out.data();
           PointT* out_inner = out + cloud_out.width*top + left;
 
           for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
@@ -428,9 +428,9 @@ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT>
         int right = cloud_out.width - cloud_in.width - left;
         int bottom = cloud_out.height - cloud_in.height - top;
         std::vector<PointT> buff (cloud_out.width, value);
-        PointT* buff_ptr = &(buff[0]);
-        const PointT* in = &(cloud_in[0]);
-        PointT* out = &(cloud_out[0]);
+        PointT* buff_ptr = buff.data();
+        const PointT* in = cloud_in.data();
+        PointT* out = cloud_out.data();
         PointT* out_inner = out + cloud_out.width*top + left;
 
         for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)

common/src/range_image.cpp

@@ -826,7 +826,7 @@ RangeImage::extractFarRanges (const pcl::PCLPointCloud2& point_cloud_data,
   }
 
   int point_step = point_cloud_data.point_step;
-  const unsigned char* data = &point_cloud_data.data[0];
+  const unsigned char* data = point_cloud_data.data.data();
   int x_offset = point_cloud_data.fields[x_idx].offset,
       y_offset = point_cloud_data.fields[y_idx].offset,
       z_offset = point_cloud_data.fields[z_idx].offset,

features/include/pcl/features/impl/brisk_2d.hpp

@@ -249,7 +249,7 @@ BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT>::smoothedIntensity
     const int r_y_1 = (1024 - r_y);
 
     //+const unsigned char* ptr = static_cast<const unsigned char*> (&image[0].r) + x + y * imagecols;
-    const unsigned char* ptr = static_cast<const unsigned char*>(&image[0]) + x + y * imagecols;
+    const unsigned char* ptr = static_cast<const unsigned char*>(image.data()) + x + y * imagecols;
 
     // just interpolate:
     ret_val = (r_x_1 * r_y_1 * static_cast<int>(*ptr));
@@ -312,7 +312,7 @@ BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT>::smoothedIntensity
     // now the calculation:
 
     //+const unsigned char* ptr = static_cast<const unsigned char*> (&image[0].r) + x_left + imagecols * y_top;
-    const unsigned char* ptr = static_cast<const unsigned char*>(&image[0]) + x_left + imagecols * y_top;
+    const unsigned char* ptr = static_cast<const unsigned char*>(image.data()) + x_left + imagecols * y_top;
 
     // first the corners:
     ret_val = A * static_cast<int>(*ptr);
@@ -334,7 +334,7 @@ BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT>::smoothedIntensity
 
     // next the edges:
     //+int* ptr_integral;// = static_cast<int*> (integral.data) + x_left + integralcols * y_top + 1;
-    const int* ptr_integral = static_cast<const int*> (&integral_image[0]) + x_left + integralcols * y_top + 1;
+    const int* ptr_integral = static_cast<const int*> (integral_image.data()) + x_left + integralcols * y_top + 1;
 
     // find a simple path through the different surface corners
     const int tmp1 = (*ptr_integral);
@@ -374,7 +374,7 @@ BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT>::smoothedIntensity
   // now the calculation:
 
   //const unsigned char* ptr = static_cast<const unsigned char*> (&image[0].r) + x_left + imagecols * y_top;
-  const unsigned char* ptr = static_cast<const unsigned char*>(&image[0]) + x_left + imagecols * y_top;
+  const unsigned char* ptr = static_cast<const unsigned char*>(image.data()) + x_left + imagecols * y_top;
 
   // first row:
   ret_val = A * static_cast<int>(*ptr);

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

@@ -156,12 +156,12 @@ template <typename DataType, unsigned Dimension> void
 IntegralImage2D<DataType, Dimension>::computeIntegralImages (
     const DataType *data, unsigned row_stride, unsigned element_stride)
 {
-  ElementType* previous_row = &first_order_integral_image_[0];
+  ElementType* previous_row = first_order_integral_image_.data();
   ElementType* current_row  = previous_row + (width_ + 1);
   for (unsigned int i = 0; i < (width_ + 1); ++i)
     previous_row[i].setZero();
 
-  unsigned* count_previous_row = &finite_values_integral_image_[0];
+  unsigned* count_previous_row = finite_values_integral_image_.data();
   unsigned* count_current_row  = count_previous_row + (width_ + 1);
   std::fill_n(count_previous_row, width_ + 1, 0);
 
@@ -188,7 +188,7 @@ IntegralImage2D<DataType, Dimension>::computeIntegralImages (
   }
   else
   {
-    SecondOrderType* so_previous_row = &second_order_integral_image_[0];
+    SecondOrderType* so_previous_row = second_order_integral_image_.data();
     SecondOrderType* so_current_row  = so_previous_row + (width_ + 1);
     for (unsigned int i = 0; i < (width_ + 1); ++i)
       so_previous_row[i].setZero();
@@ -327,11 +327,11 @@ template <typename DataType> void
 IntegralImage2D<DataType, 1>::computeIntegralImages (
     const DataType *data, unsigned row_stride, unsigned element_stride)
 {
-  ElementType* previous_row = &first_order_integral_image_[0];
+  ElementType* previous_row = first_order_integral_image_.data();
   ElementType* current_row  = previous_row + (width_ + 1);
   std::fill_n(previous_row, width_ + 1, 0);
 
-  unsigned* count_previous_row = &finite_values_integral_image_[0];
+  unsigned* count_previous_row = finite_values_integral_image_.data();
   unsigned* count_current_row  = count_previous_row + (width_ + 1);
   std::fill_n(count_previous_row, width_ + 1, 0);
 
@@ -357,7 +357,7 @@ IntegralImage2D<DataType, 1>::computeIntegralImages (
   }
   else
   {
-    SecondOrderType* so_previous_row = &second_order_integral_image_[0];
+    SecondOrderType* so_previous_row = second_order_integral_image_.data();
     SecondOrderType* so_current_row  = so_previous_row + (width_ + 1);
     std::fill_n(so_previous_row, width_ + 1, 0);
 

filters/src/passthrough.cpp

@@ -217,7 +217,7 @@ pcl::PassThrough<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
         }
 
         // Unoptimized memcpys: assume fields x, y, z are in random order
-        memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof(float));
+        memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof(float)); // NOLINT(readability-container-data-pointer)
         memcpy (&pt[1], &input_->data[xyz_offset[1]], sizeof(float));
         memcpy (&pt[2], &input_->data[xyz_offset[2]], sizeof(float));
 
@@ -245,7 +245,7 @@ pcl::PassThrough<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
     for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step)
     {
       // Unoptimized memcpys: assume fields x, y, z are in random order
-      memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof(float));
+      memcpy (&pt[0], &input_->data[xyz_offset[0]], sizeof(float)); // NOLINT(readability-container-data-pointer)
       memcpy (&pt[1], &input_->data[xyz_offset[1]], sizeof(float));
       memcpy (&pt[2], &input_->data[xyz_offset[2]], sizeof(float));
 

filters/src/voxel_grid.cpp

@@ -45,7 +45,7 @@
 #include <array>
 
 using Array4size_t = Eigen::Array<std::size_t, 4, 1>;
-
+// NOLINTBEGIN(readability-container-data-pointer)
 ///////////////////////////////////////////////////////////////////////////////////////////
 void
 pcl::getMinMax3D (const pcl::PCLPointCloud2ConstPtr &cloud, int x_idx, int y_idx, int z_idx,
@@ -525,7 +525,7 @@ pcl::VoxelGrid<pcl::PCLPointCloud2>::applyFilter (PCLPointCloud2 &output)
     ++index;
   }
 }
-
+// NOLINTEND(readability-container-data-pointer)
 #ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>

io/include/pcl/compression/impl/entropy_range_coder.hpp

@@ -119,7 +119,7 @@ pcl::AdaptiveRangeCoder::encodeCharVectorToStream (const std::vector<char>& inpu
   }
 
   // write to stream
-  outputByteStream_arg.write (&outputCharVector_[0], outputCharVector_.size ());
+  outputByteStream_arg.write (outputCharVector_.data(), outputCharVector_.size ());
 
   return (static_cast<unsigned long> (outputCharVector_.size ()));
 }
@@ -340,7 +340,7 @@ pcl::StaticRangeCoder::encodeIntVectorToStream (std::vector<unsigned int>& input
   }
 
   // write encoded data to stream
-  outputByteStream_arg.write (&outputCharVector_[0], outputCharVector_.size ());
+  outputByteStream_arg.write (outputCharVector_.data(), outputCharVector_.size ());
 
   streamByteCount += static_cast<unsigned long> (outputCharVector_.size ());
 
@@ -528,7 +528,7 @@ pcl::StaticRangeCoder::encodeCharVectorToStream (const std::vector<char>& inputB
   }
 
   // write encoded data to stream
-  outputByteStream_arg.write (&outputCharVector_[0], outputCharVector_.size ());
+  outputByteStream_arg.write (outputCharVector_.data(), outputCharVector_.size ());
 
   streamByteCount += static_cast<unsigned long> (outputCharVector_.size ());
 

io/include/pcl/compression/impl/organized_pointcloud_compression.hpp

@@ -109,7 +109,7 @@ namespace pcl
       // Encode size of compressed disparity image data
       compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedDisparitySize), sizeof (compressedDisparitySize));
       // Output compressed disparity to ostream
-      compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedDisparity[0]), compressedDisparity.size () * sizeof(std::uint8_t));
+      compressedDataOut_arg.write (reinterpret_cast<const char*> (compressedDisparity.data()), compressedDisparity.size () * sizeof(std::uint8_t));
 
       // Compress color information
       if (CompressionPointTraits<PointT>::hasColor && doColorEncoding)
@@ -127,7 +127,7 @@ namespace pcl
       // Encode size of compressed Color image data
       compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedColorSize), sizeof (compressedColorSize));
       // Output compressed disparity to ostream
-      compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedColor[0]), compressedColor.size () * sizeof(std::uint8_t));
+      compressedDataOut_arg.write (reinterpret_cast<const char*> (compressedColor.data()), compressedColor.size () * sizeof(std::uint8_t));
 
       if (bShowStatistics_arg)
       {
@@ -194,8 +194,8 @@ namespace pcl
        std::uint32_t compressedColorSize = 0;
 
        // Remove color information of invalid points
-       std::uint16_t* depth_ptr = &disparityMap_arg[0];
-       std::uint8_t* color_ptr = &colorImage_arg[0];
+       std::uint16_t* depth_ptr = disparityMap_arg.data();
+       std::uint8_t* color_ptr = colorImage_arg.data();
 
        for (std::size_t i = 0; i < cloud_size; ++i, ++depth_ptr, color_ptr += sizeof(std::uint8_t) * 3)
        {
@@ -211,7 +211,7 @@ namespace pcl
        // Encode size of compressed disparity image data
        compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedDisparitySize), sizeof (compressedDisparitySize));
        // Output compressed disparity to ostream
-       compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedDisparity[0]), compressedDisparity.size () * sizeof(std::uint8_t));
+       compressedDataOut_arg.write (reinterpret_cast<const char*> (compressedDisparity.data()), compressedDisparity.size () * sizeof(std::uint8_t));
 
        // Compress color information
        if (!colorImage_arg.empty () && doColorEncoding)
@@ -244,7 +244,7 @@ namespace pcl
        // Encode size of compressed Color image data
        compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedColorSize), sizeof (compressedColorSize));
        // Output compressed disparity to ostream
-       compressedDataOut_arg.write (reinterpret_cast<const char*> (&compressedColor[0]), compressedColor.size () * sizeof(std::uint8_t));
+       compressedDataOut_arg.write (reinterpret_cast<const char*> (compressedColor.data()), compressedColor.size () * sizeof(std::uint8_t));
 
        if (bShowStatistics_arg)
        {
@@ -320,12 +320,12 @@ namespace pcl
         // reading compressed disparity data
         compressedDataIn_arg.read (reinterpret_cast<char*> (&compressedDisparitySize), sizeof (compressedDisparitySize));
         compressedDisparity.resize (compressedDisparitySize);
-        compressedDataIn_arg.read (reinterpret_cast<char*> (&compressedDisparity[0]), compressedDisparitySize * sizeof(std::uint8_t));
+        compressedDataIn_arg.read (reinterpret_cast<char*> (compressedDisparity.data()), compressedDisparitySize * sizeof(std::uint8_t));
 
         // reading compressed rgb data
         compressedDataIn_arg.read (reinterpret_cast<char*> (&compressedColorSize), sizeof (compressedColorSize));
         compressedColor.resize (compressedColorSize);
-        compressedDataIn_arg.read (reinterpret_cast<char*> (&compressedColor[0]), compressedColorSize * sizeof(std::uint8_t));
+        compressedDataIn_arg.read (reinterpret_cast<char*> (compressedColor.data()), compressedColorSize * sizeof(std::uint8_t));
 
         std::size_t png_width = 0;
         std::size_t png_height = 0;

io/include/pcl/io/impl/lzf_image_io.hpp

@@ -236,7 +236,7 @@ LZFRGB24ImageReader::read (
   cloud.resize (getWidth () * getHeight ());
 
   int rgb_idx = 0;
-  auto *color_r = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
+  auto *color_r = reinterpret_cast<unsigned char*> (uncompressed_data.data());
   auto *color_g = reinterpret_cast<unsigned char*> (&uncompressed_data[getWidth () * getHeight ()]);
   auto *color_b = reinterpret_cast<unsigned char*> (&uncompressed_data[2 * getWidth () * getHeight ()]);
 
@@ -284,7 +284,7 @@ LZFRGB24ImageReader::readOMP (
   cloud.height = getHeight ();
   cloud.resize (getWidth () * getHeight ());
 
-  auto *color_r = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
+  auto *color_r = reinterpret_cast<unsigned char*> (uncompressed_data.data());
   auto *color_g = reinterpret_cast<unsigned char*> (&uncompressed_data[getWidth () * getHeight ()]);
   auto *color_b = reinterpret_cast<unsigned char*> (&uncompressed_data[2 * getWidth () * getHeight ()]);
 
@@ -341,7 +341,7 @@ LZFYUV422ImageReader::read (
   cloud.resize (getWidth () * getHeight ());
 
   int wh2 = getWidth () * getHeight () / 2;
-  auto *color_u = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
+  auto *color_u = reinterpret_cast<unsigned char*> (uncompressed_data.data());
   auto *color_y = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2]);
   auto *color_v = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2 + getWidth () * getHeight ()]);
 
@@ -399,7 +399,7 @@ LZFYUV422ImageReader::readOMP (
   cloud.resize (getWidth () * getHeight ());
 
   int wh2 = getWidth () * getHeight () / 2;
-  auto *color_u = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
+  auto *color_u = reinterpret_cast<unsigned char*> (uncompressed_data.data());
   auto *color_y = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2]);
   auto *color_v = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2 + getWidth () * getHeight ()]);
 
@@ -462,8 +462,8 @@ LZFBayer8ImageReader::read (
   // Convert Bayer8 to RGB24
   std::vector<unsigned char> rgb_buffer (getWidth () * getHeight () * 3);
   DeBayer i;
-  i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
-                     static_cast<unsigned char*> (&rgb_buffer[0]),
+  i.debayerEdgeAware (reinterpret_cast<unsigned char*> (uncompressed_data.data()),
+                     static_cast<unsigned char*> (rgb_buffer.data()),
                      getWidth (), getHeight ());
   // Copy to PointT
   cloud.width  = getWidth ();
@@ -512,8 +512,8 @@ LZFBayer8ImageReader::readOMP (
   // Convert Bayer8 to RGB24
   std::vector<unsigned char> rgb_buffer (getWidth () * getHeight () * 3);
   DeBayer i;
-  i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
-                     static_cast<unsigned char*> (&rgb_buffer[0]),
+  i.debayerEdgeAware (reinterpret_cast<unsigned char*> (uncompressed_data.data()),
+                     static_cast<unsigned char*> (rgb_buffer.data()),
                      getWidth (), getHeight ());
   // Copy to PointT
   cloud.width  = getWidth ();

io/include/pcl/io/impl/point_cloud_image_extractors.hpp

@@ -154,7 +154,7 @@ pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extractImpl (const Poin
       img.height = cloud.height;
       img.step = img.width * sizeof (unsigned short);
       img.data.resize (img.step * img.height);
-      auto* data = reinterpret_cast<unsigned short*>(&img.data[0]);
+      auto* data = reinterpret_cast<unsigned short*>(img.data.data());
       for (std::size_t i = 0; i < cloud.size (); ++i)
       {
         std::uint32_t val;
@@ -255,7 +255,7 @@ pcl::io::PointCloudImageExtractorWithScaling<PointT>::extractImpl (const PointCl
   img.height = cloud.height;
   img.step = img.width * sizeof (unsigned short);
   img.data.resize (img.step * img.height);
-  auto* data = reinterpret_cast<unsigned short*>(&img.data[0]);
+  auto* data = reinterpret_cast<unsigned short*>(img.data.data());
 
   float scaling_factor = scaling_factor_;
   float data_min = 0.0f;

io/src/ascii_io.cpp

@@ -143,7 +143,7 @@ pcl::ASCIIReader::read (
 
   int total=0;
 
-  std::uint8_t* data = &cloud.data[0];
+  std::uint8_t* data = cloud.data.data();
   while (std::getline (ifile, line))
   {
     boost::algorithm::trim (line);