Part B of transition to support modernize-use-default-member-init (#5711)

Author: gnawme

features/include/pcl/features/3dsc.h

@@ -97,12 +97,7 @@ namespace pcl
         theta_divisions_(0),
         phi_divisions_(0),
         volume_lut_(0),
-        azimuth_bins_(12),
-        elevation_bins_(11),
-        radius_bins_(15),
-        min_radius_(0.1),
-        point_density_radius_(0.2),
-        descriptor_length_ (),
+        
         rng_dist_ (0.0f, 1.0f)
       {
         feature_name_ = "ShapeContext3DEstimation";
@@ -197,22 +192,22 @@ namespace pcl
       std::vector<float> volume_lut_;
 
       /** \brief Bins along the azimuth dimension */
-      std::size_t azimuth_bins_;
+      std::size_t azimuth_bins_{12};
 
       /** \brief Bins along the elevation dimension */
-      std::size_t elevation_bins_;
+      std::size_t elevation_bins_{11};
 
       /** \brief Bins along the radius dimension */
-      std::size_t radius_bins_;
+      std::size_t radius_bins_{15};
 
       /** \brief Minimal radius value */
-      double min_radius_;
+      double min_radius_{0.1};
 
       /** \brief Point density radius */
-      double point_density_radius_;
+      double point_density_radius_{0.2};
 
       /** \brief Descriptor length */
-      std::size_t descriptor_length_;
+      std::size_t descriptor_length_{};
 
       /** \brief Random number generator algorithm. */
       std::mt19937 rng_;

features/include/pcl/features/board.h

@@ -62,13 +62,7 @@ namespace pcl
       using ConstPtr = shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;
 
       /** \brief Constructor. */
-      BOARDLocalReferenceFrameEstimation () :
-        tangent_radius_ (0.0f),
-        find_holes_ (false),
-        margin_thresh_ (0.85f),
-        check_margin_array_size_ (24),
-        hole_size_prob_thresh_ (0.2f),
-        steep_thresh_ (0.1f)
+      BOARDLocalReferenceFrameEstimation ()
       {
         feature_name_ = "BOARDLocalReferenceFrameEstimation";
         setCheckMarginArraySize (check_margin_array_size_);
@@ -331,22 +325,22 @@ namespace pcl
 
     private:
       /** \brief Radius used to find tangent axis. */
-      float tangent_radius_;
+      float tangent_radius_{0.0f};
 
       /** \brief If true, check if support is complete or has missing regions because it is too near to mesh borders. */
-      bool find_holes_;
+      bool find_holes_{false};
 
       /** \brief Threshold that define if a support point is near the margins. */
-      float margin_thresh_; 
+      float margin_thresh_{0.85f}; 
 
       /** \brief Number of slices that divide the support in order to determine if a missing region is present. */
-      int check_margin_array_size_; 
+      int check_margin_array_size_{24}; 
 
       /** \brief Threshold used to determine a missing region */
-      float hole_size_prob_thresh_; 
+      float hole_size_prob_thresh_{0.2f}; 
 
       /** \brief Threshold that defines if a missing region contains a point with the most different normal. */
-      float steep_thresh_; 
+      float steep_thresh_{0.1f}; 
 
       std::vector<bool> check_margin_array_;
       std::vector<float> margin_array_min_angle_;

features/include/pcl/features/crh.h

@@ -74,8 +74,7 @@ namespace pcl
       using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
 
       /** \brief Constructor. */
-      CRHEstimation () :
-        vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
+      CRHEstimation ()
       {
         k_ = 1;
         feature_name_ = "CRHEstimation";
@@ -118,10 +117,10 @@ namespace pcl
       /** \brief Values describing the viewpoint ("pinhole" camera model assumed). 
        * By default, the viewpoint is set to 0,0,0.
        */
-      float vpx_, vpy_, vpz_;
+      float vpx_{0}, vpy_{0}, vpz_{0};
 
       /** \brief Number of bins, this should match the Output type */
-      int nbins_;
+      int nbins_{90};
 
       /** \brief Centroid to be used */
       Eigen::Vector4f centroid_;

features/include/pcl/features/cvfh.h

@@ -79,13 +79,9 @@ namespace pcl
 
       /** \brief Empty constructor. */
       CVFHEstimation () :
-        vpx_ (0), vpy_ (0), vpz_ (0), 
-        leaf_size_ (0.005f), 
-        normalize_bins_ (false),
-        curv_threshold_ (0.03f), 
+         
         cluster_tolerance_ (leaf_size_ * 3), 
-        eps_angle_threshold_ (0.125f), 
-        min_points_ (50),
+        
         radius_normals_ (leaf_size_ * 3)
       {
         search_radius_ = 0;
@@ -216,29 +212,29 @@ namespace pcl
       /** \brief Values describing the viewpoint ("pinhole" camera model assumed). 
         * By default, the viewpoint is set to 0,0,0.
         */
-      float vpx_, vpy_, vpz_;
+      float vpx_{0}, vpy_{0}, vpz_{0};
 
       /** \brief Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel 
         * size of the training data or the normalize_bins_ flag must be set to true.
         */
-      float leaf_size_;
+      float leaf_size_{0.005f};
 
       /** \brief Whether to normalize the signatures or not. Default: false. */
-      bool normalize_bins_;
+      bool normalize_bins_{false};
 
       /** \brief Curvature threshold for removing normals. */
-      float curv_threshold_;
+      float curv_threshold_{0.03f};
 
       /** \brief allowed Euclidean distance between points to be added to the cluster. */
       float cluster_tolerance_;
 
       /** \brief deviation of the normals between two points so they can be clustered together. */
-      float eps_angle_threshold_;
+      float eps_angle_threshold_{0.125f};
 
       /** \brief Minimum amount of points in a clustered region to be considered stable for CVFH
         * computation.
         */
-      std::size_t min_points_;
+      std::size_t min_points_{50};
 
       /** \brief Radius for the normals computation. */
       float radius_normals_;

features/include/pcl/features/flare.h

@@ -90,13 +90,9 @@ namespace pcl
     public:
       /** \brief Constructor. */
       FLARELocalReferenceFrameEstimation () :
-        tangent_radius_ (0.0f),
-        margin_thresh_ (0.85f),
-        min_neighbors_for_normal_axis_ (6),
-        min_neighbors_for_tangent_axis_ (6),
+        
         sampled_surface_ (), 
-        sampled_tree_ (),
-        fake_sampled_surface_ (false)
+        sampled_tree_ ()
       {
         feature_name_ = "FLARELocalReferenceFrameEstimation";
       }
@@ -253,16 +249,16 @@ namespace pcl
 
     private:
       /** \brief Radius used to find tangent axis. */
-      float tangent_radius_;
+      float tangent_radius_{0.0f};
 
       /** \brief Threshold that define if a support point is near the margins. */
-      float margin_thresh_; 
+      float margin_thresh_{0.85f}; 
 
       /** \brief Min number of neighbours required for the computation of Z axis. Otherwise, feature point normal is used. */
-      int min_neighbors_for_normal_axis_;
+      int min_neighbors_for_normal_axis_{6};
 
       /** \brief Min number of neighbours required for the computation of X axis. Otherwise, a random X axis is set */
-      int min_neighbors_for_tangent_axis_;
+      int min_neighbors_for_tangent_axis_{6};
 
       /** \brief An input point cloud describing the surface that is to be used
         * for nearest neighbor searches for the estimation of X axis.
@@ -279,7 +275,7 @@ namespace pcl
       std::vector<SignedDistanceT> signed_distances_from_highest_points_;
 
       /** \brief If no sampled_surface_ is given, we use surface_ as the sampled surface. */
-      bool fake_sampled_surface_;
+      bool fake_sampled_surface_{false};
 
   };
 

features/include/pcl/features/fpfh.h

@@ -93,7 +93,7 @@ namespace pcl
 
       /** \brief Empty constructor. */
       FPFHEstimation () : 
-        nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), 
+         
         d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
       {
         feature_name_ = "FPFHEstimation";
@@ -197,7 +197,7 @@ namespace pcl
       computeFeature (PointCloudOut &output) override;
 
       /** \brief The number of subdivisions for each angular feature interval. */
-      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
+      int nr_bins_f1_{11}, nr_bins_f2_{11}, nr_bins_f3_{11};
 
       /** \brief Placeholder for the f1 histogram. */
       Eigen::MatrixXf hist_f1_;

features/include/pcl/features/fpfh_omp.h

@@ -94,7 +94,7 @@ namespace pcl
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
         */
-      FPFHEstimationOMP (unsigned int nr_threads = 0) : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11)
+      FPFHEstimationOMP (unsigned int nr_threads = 0)
       {
         feature_name_ = "FPFHEstimationOMP";
 
@@ -118,7 +118,7 @@ namespace pcl
 
     public:
       /** \brief The number of subdivisions for each angular feature interval. */
-      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
+      int nr_bins_f1_{11}, nr_bins_f2_{11}, nr_bins_f3_{11};
     private:
       /** \brief The number of threads the scheduler should use. */
       unsigned int threads_;

features/include/pcl/features/gfpfh.h

@@ -82,8 +82,7 @@ namespace pcl
 
       /** \brief Empty constructor. */
       GFPFHEstimation () : 
-        octree_leaf_size_ (0.01),
-        number_of_classes_ (16),
+        
         descriptor_size_ (PointOutT::descriptorSize ())
       {
         feature_name_ = "GFPFHEstimation";
@@ -162,10 +161,10 @@ namespace pcl
 
     private:
       /** \brief Size of octree leaves. */
-      double octree_leaf_size_;
+      double octree_leaf_size_{0.01};
 
       /** \brief Number of possible classes/labels. */
-      std::uint32_t number_of_classes_;
+      std::uint32_t number_of_classes_{16};
 
       /** \brief Dimension of the descriptors. */
       int descriptor_size_;

features/include/pcl/features/impl/moment_of_inertia_estimation.hpp

@@ -48,17 +48,12 @@
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT>
 pcl::MomentOfInertiaEstimation<PointT>::MomentOfInertiaEstimation () :
-  is_valid_ (false),
-  step_ (10.0f),
-  point_mass_ (0.0001f),
-  normalize_ (true),
+  
   mean_value_ (0.0f, 0.0f, 0.0f),
   major_axis_ (0.0f, 0.0f, 0.0f),
   middle_axis_ (0.0f, 0.0f, 0.0f),
   minor_axis_ (0.0f, 0.0f, 0.0f),
-  major_value_ (0.0f),
-  middle_value_ (0.0f),
-  minor_value_ (0.0f),
+  
   aabb_min_point_ (),
   aabb_max_point_ (),
   obb_min_point_ (),

features/include/pcl/features/impl/multiscale_feature_persistence.hpp

@@ -45,8 +45,7 @@
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointSource, typename PointFeature>
 pcl::MultiscaleFeaturePersistence<PointSource, PointFeature>::MultiscaleFeaturePersistence () : 
-  alpha_ (0), 
-  distance_metric_ (L1),
+  
   feature_estimator_ (),
   features_at_scale_ (),
   feature_representation_ ()