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Merged
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Apr 1, 2020
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Mark non-const and non-modifying member functions as const #3836

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2 changes: 1 addition & 1 deletion apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/tools/openni_frame_source.h
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Expand Up @@ -23,7 +23,7 @@ namespace OpenNIFrameSource
const PointCloudPtr
snap ();
bool
isActive ();
isActive () const;
void
onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);

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2 changes: 1 addition & 1 deletion apps/3d_rec_framework/src/tools/openni_frame_source.cpp
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Expand Up @@ -21,7 +21,7 @@ namespace OpenNIFrameSource
}

bool
OpenNIFrameSource::isActive ()
OpenNIFrameSource::isActive () const
{
return active_;
}
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2 changes: 1 addition & 1 deletion apps/include/pcl/apps/face_detection/openni_frame_source.h
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Expand Up @@ -23,7 +23,7 @@ namespace OpenNIFrameSource
const PointCloudPtr
snap ();
bool
isActive ();
isActive () const;
void
onKeyboardEvent (const pcl::visualization::KeyboardEvent & event);

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2 changes: 1 addition & 1 deletion apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/cloudTransformTool.h
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Expand Up @@ -116,7 +116,7 @@ class CloudTransformTool : public ToolInterface

/// generate scale matrix
void
getScaleMatrix (int dy, float* matrix);
getScaleMatrix (int dy, float* matrix) const;

/// the transform matrix to be used for updating the coordinates of all
/// the points in the cloud
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2 changes: 1 addition & 1 deletion apps/point_cloud_editor/include/pcl/apps/point_cloud_editor/trackball.h
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Expand Up @@ -62,7 +62,7 @@ class TrackBall

private:

void getPointFromScreenPoint(int s_x, int s_y, float &x, float &y, float &z);
void getPointFromScreenPoint(int s_x, int s_y, float &x, float &y, float &z) const;

/// the quaternion representing the current orientation of the trackball
boost::math::quaternion<float> quat_;
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2 changes: 1 addition & 1 deletion apps/point_cloud_editor/src/cloudTransformTool.cpp
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Expand Up @@ -114,7 +114,7 @@ CloudTransformTool::getZTranslateMatrix (int dy, float* matrix)
}

void
CloudTransformTool::getScaleMatrix (int dy, float* matrix)
CloudTransformTool::getScaleMatrix (int dy, float* matrix) const
{
setIdentity(matrix);
float scale = dy > 0 ? scale_factor_ : 1.0 / scale_factor_;
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2 changes: 1 addition & 1 deletion apps/point_cloud_editor/src/trackball.cpp
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Expand Up @@ -221,7 +221,7 @@ TrackBall::reset()

void
TrackBall::getPointFromScreenPoint(int s_x, int s_y,
float &x, float &y, float &z)
float &x, float &y, float &z) const
{
// See http://www.opengl.org/wiki/Trackball for more info

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2 changes: 1 addition & 1 deletion apps/src/face_detection/openni_frame_source.cpp
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Expand Up @@ -19,7 +19,7 @@ namespace OpenNIFrameSource
grabber_.stop ();
}

bool OpenNIFrameSource::isActive()
bool OpenNIFrameSource::isActive() const
{
return active_;
}
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2 changes: 1 addition & 1 deletion common/include/pcl/common/transformation_from_correspondences.h
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Expand Up @@ -64,7 +64,7 @@ namespace pcl

/** Get the number of added vectors */
inline unsigned int
getNoOfSamples () { return no_of_samples_;}
getNoOfSamples () const { return no_of_samples_;}

/** Add a new sample */
inline void
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2 changes: 1 addition & 1 deletion cuda/common/include/pcl/cuda/common/point_type_rgb.h
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Expand Up @@ -64,7 +64,7 @@ namespace cuda
inline __host__ __device__ RGB (char _r, char _g, char _b, char _alpha) :
r(_r), g(_g), b(_b), alpha(_alpha) {}

inline __host__ __device__ bool operator == (const RGB &rhs)
inline __host__ __device__ bool operator == (const RGB &rhs) const
{
return (r == rhs.r && g == rhs.g && b == rhs.b && alpha == rhs.alpha);
}
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4 changes: 2 additions & 2 deletions gpu/features/include/pcl/gpu/features/features.hpp
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Expand Up @@ -99,7 +99,7 @@ namespace pcl
NormalEstimation();
void compute(Normals& normals);
void setViewPoint(float vpx, float vpy, float vpz);
void getViewPoint(float& vpx, float& vpy, float& vpz);
void getViewPoint(float& vpx, float& vpy, float& vpz) const;

static void computeNormals(const PointCloud& cloud, const NeighborIndices& nn_indices, Normals& normals);
static void flipNormalTowardsViewpoint(const PointCloud& cloud, float vp_x, float vp_y, float vp_z, Normals& normals);
Expand Down Expand Up @@ -223,7 +223,7 @@ namespace pcl
VFHEstimation();

void setViewPoint(float vpx, float vpy, float vpz);
void getViewPoint(float& vpx, float& vpy, float& vpz);
void getViewPoint(float& vpx, float& vpy, float& vpz) const;

void setUseGivenNormal (bool use);
void setNormalToUse (const NormalType& normal);
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4 changes: 2 additions & 2 deletions gpu/features/src/features.cpp
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Expand Up @@ -94,7 +94,7 @@ void pcl::gpu::NormalEstimation::setViewPoint (float vpx, float vpy, float vpz)
vpx_ = vpx; vpy_ = vpy; vpz_ = vpz;
}

void pcl::gpu::NormalEstimation::getViewPoint (float &vpx, float &vpy, float &vpz)
void pcl::gpu::NormalEstimation::getViewPoint (float &vpx, float &vpy, float &vpz) const
{
vpx = vpx_; vpy = vpy_; vpz = vpz_;
}
Expand Down Expand Up @@ -383,7 +383,7 @@ pcl::gpu::VFHEstimation::VFHEstimation()
}

void pcl::gpu::VFHEstimation::setViewPoint(float vpx, float vpy, float vpz) { vpx_ = vpx; vpy_ = vpy; vpz_ = vpz; }
void pcl::gpu::VFHEstimation::getViewPoint(float& vpx, float& vpy, float& vpz) { vpx = vpx_; vpy = vpy_; vpz = vpz_; }
void pcl::gpu::VFHEstimation::getViewPoint(float& vpx, float& vpy, float& vpz) const { vpx = vpx_; vpy = vpy_; vpz = vpz_; }

void pcl::gpu::VFHEstimation::setUseGivenNormal (bool use) { use_given_normal_ = use; }
void pcl::gpu::VFHEstimation::setNormalToUse (const NormalType& normal) { normal_to_use_ = normal; }
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2 changes: 1 addition & 1 deletion gpu/kinfu/include/pcl/gpu/kinfu/kinfu.h
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Expand Up @@ -98,7 +98,7 @@ namespace pcl
* \param[out] cy principal point y
*/
void
getDepthIntrinsics (float& fx, float& fy, float& cx, float& cy);
getDepthIntrinsics (float& fx, float& fy, float& cx, float& cy) const;


/** \brief Sets initial camera pose relative to volume coordinate space
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2 changes: 1 addition & 1 deletion gpu/kinfu/src/kinfu.cpp
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Expand Up @@ -114,7 +114,7 @@ pcl::gpu::KinfuTracker::setDepthIntrinsics (float fx, float fy, float cx, float

///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::gpu::KinfuTracker::getDepthIntrinsics (float& fx, float& fy, float& cx, float& cy)
pcl::gpu::KinfuTracker::getDepthIntrinsics (float& fx, float& fy, float& cx, float& cy) const
{
fx = fx_;
fy = fy_;
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4 changes: 2 additions & 2 deletions gpu/kinfu/tools/kinfu_app.cpp
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Expand Up @@ -404,7 +404,7 @@ struct ImageView
}

void
showDepth (const PtrStepSz<const unsigned short>& depth)
showDepth (const PtrStepSz<const unsigned short>& depth) const
{
if (viz_)
viewerDepth_->showShortImage (depth.data, depth.cols, depth.rows, 0, 5000, true, "short_image");
Expand Down Expand Up @@ -582,7 +582,7 @@ struct SceneCloudView
}

void
clearClouds (bool print_message = false)
clearClouds (bool print_message = false) const
{
if (!viz_)
return;
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2 changes: 1 addition & 1 deletion gpu/kinfu_large_scale/include/pcl/gpu/kinfu_large_scale/screenshot_manager.h
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Expand Up @@ -91,7 +91,7 @@ namespace pcl

/**Write camera pose to file*/
void
writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats);
writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats) const;

/**Counter of the number of screenshots taken*/
int screenshot_counter;
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2 changes: 1 addition & 1 deletion gpu/kinfu_large_scale/src/screenshot_manager.cpp
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Expand Up @@ -97,7 +97,7 @@ namespace pcl
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

void
ScreenshotManager::writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats)
ScreenshotManager::writePose(const std::string &filename_pose, const Eigen::Vector3f &teVecs, const Eigen::Matrix<float, 3, 3, Eigen::RowMajor> &erreMats) const
{
std::ofstream poseFile;
poseFile.open (filename_pose.c_str());
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2 changes: 1 addition & 1 deletion gpu/octree/include/pcl/gpu/octree/octree.hpp
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Expand Up @@ -95,7 +95,7 @@ namespace pcl
void build();

/** \brief Returns true if tree has been built */
bool isBuilt();
bool isBuilt() const;

/** \brief Downloads Octree from GPU to search using CPU function. It use useful for single (not-batch) search */
void internalDownload();
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2 changes: 1 addition & 1 deletion gpu/octree/src/octree.cpp
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Expand Up @@ -95,7 +95,7 @@ void pcl::gpu::Octree::build()
built_ = true;
}

bool pcl::gpu::Octree::isBuilt()
bool pcl::gpu::Octree::isBuilt() const
{
return built_;
}
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2 changes: 1 addition & 1 deletion gpu/people/include/pcl/gpu/people/face_detector.h
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Expand Up @@ -162,7 +162,7 @@ namespace pcl

/** \brief Get the cuda GPU device id in use **/
int
getDeviceId() {return cuda_dev_id_;}
getDeviceId() const {return cuda_dev_id_;}

private:
bool largest_object_; /** \brief only give back largest object **/
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16 changes: 8 additions & 8 deletions gpu/people/src/cuda/nvidia/NCVHaarObjectDetection.hpp
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Expand Up @@ -138,27 +138,27 @@ struct HaarFeatureDescriptor32
return NCV_SUCCESS;
}

__device__ __host__ NcvBool isTilted()
__device__ __host__ NcvBool isTilted() const
{
return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagTilted) != 0;
}

__device__ __host__ NcvBool isLeftNodeLeaf()
__device__ __host__ NcvBool isLeftNodeLeaf() const
{
return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagLeftNodeLeaf) != 0;
}

__device__ __host__ NcvBool isRightNodeLeaf()
__device__ __host__ NcvBool isRightNodeLeaf() const
{
return (this->desc & HaarFeatureDescriptor32_Interpret_MaskFlagRightNodeLeaf) != 0;
}

__device__ __host__ Ncv32u getNumFeatures()
__device__ __host__ Ncv32u getNumFeatures() const
{
return (this->desc >> HaarFeatureDescriptor32_NumFeatures_Shift) & HaarFeatureDescriptor32_CreateCheck_MaxNumFeatures;
}

__device__ __host__ Ncv32u getFeaturesOffset()
__device__ __host__ Ncv32u getFeaturesOffset() const
{
return this->desc & HaarFeatureDescriptor32_CreateCheck_MaxFeatureOffset;
}
Expand All @@ -185,7 +185,7 @@ struct HaarClassifierNodeDescriptor32
return (*(Ncv32f *)&this->_ui1.x);
}

__host__ bool isLeaf() // TODO: check this hack don't know if is correct
__host__ bool isLeaf() const // TODO: check this hack don't know if is correct
{
return ( _ui1.x != 0);
}
Expand Down Expand Up @@ -291,12 +291,12 @@ struct HaarStage64
return *(Ncv32f*)&this->_ui2.x;
}

__host__ __device__ Ncv32u getStartClassifierRootNodeOffset()
__host__ __device__ Ncv32u getStartClassifierRootNodeOffset() const
{
return (this->_ui2.y >> HaarStage64_Interpret_ShiftRootNodeOffset);
}

__host__ __device__ Ncv32u getNumClassifierRootNodes()
__host__ __device__ Ncv32u getNumClassifierRootNodes() const
{
return (this->_ui2.y & HaarStage64_Interpret_MaskRootNodes);
}
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2 changes: 1 addition & 1 deletion gpu/people/src/trees.cpp
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Expand Up @@ -65,7 +65,7 @@ namespace pcl
{
Tex2Dfetcher( const std::uint16_t* dmap, int W, int H ) : m_dmap(dmap), m_W(W), m_H(H) {}

inline std::uint16_t operator () ( float uf, float vf )
inline std::uint16_t operator () ( float uf, float vf ) const
{
int u = static_cast<int>(uf);
int v = static_cast<int>(vf);
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4 changes: 2 additions & 2 deletions gpu/people/tools/people_pcd_prob.cpp
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Expand Up @@ -139,7 +139,7 @@ class PeoplePCDApp
}

void
writeXMLFile(std::string& filename)
writeXMLFile(std::string& filename) const
{
filebuf fb;
fb.open (filename.c_str(), ios::out);
Expand All @@ -149,7 +149,7 @@ class PeoplePCDApp
}

void
readXMLFile(std::string& filename)
readXMLFile(std::string& filename) const
{
filebuf fb;
fb.open (filename.c_str(), ios::in);
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2 changes: 1 addition & 1 deletion gpu/surface/src/convex_hull.cpp
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Expand Up @@ -59,7 +59,7 @@ pcl::device::FacetStream::FacetStream(std::size_t buffer_size)
}

bool
pcl::device::FacetStream::canSplit()
pcl::device::FacetStream::canSplit() const
{
return facet_count * 3 < verts_inds.cols();
}
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2 changes: 1 addition & 1 deletion gpu/surface/src/internal.h
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Expand Up @@ -80,7 +80,7 @@ namespace pcl

void compactFacets();

bool canSplit();
bool canSplit() const;
void splitFacets();
private:

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4 changes: 2 additions & 2 deletions gpu/utils/include/pcl/gpu/utils/timers_cuda.hpp
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Expand Up @@ -60,10 +60,10 @@ namespace pcl
cudaEventDestroy(stop_);
}

void start() { cudaEventRecord(start_, 0); }
void start() const { cudaEventRecord(start_, 0); }
Timer& stop() { cudaEventRecord(stop_, 0); cudaEventSynchronize(stop_); return *this; }

float time()
float time() const
{
float elapsed_time;
cudaEventElapsedTime(&elapsed_time, start_, stop_);
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4 changes: 2 additions & 2 deletions io/include/pcl/io/ensenso_grabber.h
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Expand Up @@ -169,7 +169,7 @@ namespace pcl
* @return True if successful, false otherwise
* @warning A device must be opened and not running */
bool
grabSingleCloud (pcl::PointCloud<pcl::PointXYZ> &cloud);
grabSingleCloud (pcl::PointCloud<pcl::PointXYZ> &cloud) const;

/** @brief Set up the Ensenso sensor and API to do 3D extrinsic calibration using the Ensenso 2D patterns
* @param[in] grid_spacing
Expand Down Expand Up @@ -256,7 +256,7 @@ namespace pcl
setExtrinsicCalibration (const double euler_angle,
Eigen::Vector3d &rotation_axis,
const Eigen::Vector3d &translation,
const std::string target = "Hand");
const std::string target = "Hand") const;

/** @brief Update Link node in NxLib tree with an identity matrix
* @param[in] target "Hand" or "Workspace" for example
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2 changes: 1 addition & 1 deletion io/include/pcl/io/hdl_grabber.h
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Expand Up @@ -270,7 +270,7 @@ namespace pcl
computeXYZI (pcl::PointXYZI& pointXYZI,
std::uint16_t azimuth,
HDLLaserReturn laserReturn,
HDLLaserCorrection correction);
HDLLaserCorrection correction) const;


private:
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2 changes: 1 addition & 1 deletion io/include/pcl/io/openni2/openni2_device_manager.h
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Expand Up @@ -80,7 +80,7 @@ namespace pcl
getDevice (const std::string& device_URI);

OpenNI2Device::Ptr
getDeviceByIndex (int index);
getDeviceByIndex (int index) const;

OpenNI2Device::Ptr
getFileDevice (const std::string& path);
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4 changes: 2 additions & 2 deletions io/src/ensenso_grabber.cpp
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Expand Up @@ -290,7 +290,7 @@ pcl::EnsensoGrabber::configureCapture (const bool auto_exposure,

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::EnsensoGrabber::grabSingleCloud (pcl::PointCloud<pcl::PointXYZ> &cloud)
pcl::EnsensoGrabber::grabSingleCloud (pcl::PointCloud<pcl::PointXYZ> &cloud) const
{
if (!device_open_)
return (false);
Expand Down Expand Up @@ -575,7 +575,7 @@ bool
pcl::EnsensoGrabber::setExtrinsicCalibration (const double euler_angle,
Eigen::Vector3d &rotation_axis,
const Eigen::Vector3d &translation,
const std::string target)
const std::string target) const
{
if (!device_open_)
return (false);
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2 changes: 1 addition & 1 deletion io/src/hdl_grabber.cpp
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Expand Up @@ -396,7 +396,7 @@ void
pcl::HDLGrabber::computeXYZI (pcl::PointXYZI& point,
std::uint16_t azimuth,
HDLLaserReturn laserReturn,
HDLLaserCorrection correction)
HDLLaserCorrection correction) const
{
double cos_azimuth, sin_azimuth;

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