Add more bugprone-* clang-tidy checks, Part A

.clang-tidy

@@ -1,7 +1,11 @@
 ---
 Checks: >
     -*,
+    bugprone-assert-side-effect,
     bugprone-copy-constructor-init,
+    bugprone-dangling-handle,
+    bugprone-forward-declaration-namespace,
+    bugprone-inaccurate-erase,
     bugprone-macro-parentheses,
     bugprone-unhandled-self-assignment,
     bugprone-unused-raii,
@@ -49,5 +53,5 @@ Checks: >
     readability-simplify-subscript-expr,
 WarningsAsErrors: '*'
 CheckOptions:
-- {key: modernize-use-auto.MinTypeNameLength, value: 7}
+    - {key: modernize-use-auto.MinTypeNameLength, value: 7}
 UseColor: true

.github/workflows/clang-tidy.yml

@@ -1,23 +1,25 @@
 name: clang-tidy
-
-on: [push, pull_request]
-
+'on':
+  - push
+  - pull_request
 jobs:
   tidy:
     runs-on: ubuntu-latest
     container:
-      image: pointcloudlibrary/env:24.04
-
+      image: 'pointcloudlibrary/env:24.04'
     steps:
-    - uses: actions/checkout@v4
-
-    - name: Run clang-tidy
-      run: |
+      - uses: actions/checkout@v4
+      - 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-18 -DCMAKE_C_COMPILER=/usr/bin/clang-18 . \
+
+          cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
+          -DCMAKE_CXX_COMPILER=/usr/bin/clang-18
+          -DCMAKE_C_COMPILER=/usr/bin/clang-18 . \
             -DBUILD_benchmarks=ON \
             -DBUILD_examples=ON \
+            -DBUILD_surface_on_nurbs=ON \
             -DBUILD_simulation=ON \
             -DBUILD_global_tests=ON
-        
+
           run-clang-tidy -header-filter='.*'

common/include/pcl/common/fft/.clang-tidy

@@ -0,0 +1,8 @@
+---
+# Minimal checks for third-party code (kiss_fft) - disable all except one to avoid CI "no checks" error
+Checks: '-*,-clang-diagnostic-*,-clang-analyzer-*,readability-identifier-naming'
+WarningsAsErrors: ''
+CheckOptions:
+  # Effectively disables the check by not configuring naming rules
+  - key: readability-identifier-naming.AbstractClassCase
+    value: ''

common/src/fft/.clang-tidy

@@ -0,0 +1,8 @@
+---
+# Minimal checks for third-party code (kiss_fft) - disable all except one to avoid CI "no checks" error
+Checks: '-*,-clang-diagnostic-*,-clang-analyzer-*,readability-identifier-naming'
+WarningsAsErrors: ''
+CheckOptions:
+  # Effectively disables the check by not configuring naming rules
+  - key: readability-identifier-naming.AbstractClassCase
+    value: ''

examples/surface/example_nurbs_fitting_closed_curve.cpp

@@ -43,9 +43,9 @@ VisualizeCurve (ON_NurbsCurve &curve, double r, double g, double b, bool show_cp
       curve.GetCV (i, cp);
 
       pcl::PointXYZ p;
-      p.x = float (cp.x);
-      p.y = float (cp.y);
-      p.z = float (cp.z);
+      p.x = static_cast<float>(cp.x);
+      p.y = static_cast<float>(cp.y);
+      p.z = static_cast<float>(cp.z);
       cps->push_back (p);
     }
     pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> handler (cps, 255 * r, 255 * g, 255 * b);

examples/surface/example_nurbs_fitting_closed_curve3d.cpp

@@ -41,9 +41,9 @@ VisualizeCurve (ON_NurbsCurve &curve, double r, double g, double b, bool show_cp
       curve.GetCV (i, cp);
 
       pcl::PointXYZ p;
-      p.x = float (cp.x);
-      p.y = float (cp.y);
-      p.z = float (cp.z);
+      p.x = static_cast<float>(cp.x);
+      p.y = static_cast<float>(cp.y);
+      p.z = static_cast<float>(cp.z);
       cps->push_back (p);
     }
     pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> handler (cps, 255 * r, 255 * g, 255 * b);

examples/surface/example_nurbs_fitting_curve2d.cpp

@@ -41,9 +41,9 @@ VisualizeCurve (ON_NurbsCurve &curve, double r, double g, double b, bool show_cp
       curve.GetCV (i, cp);
 
       pcl::PointXYZ p;
-      p.x = float (cp.x);
-      p.y = float (cp.y);
-      p.z = float (cp.z);
+      p.x = static_cast<float>(cp.x);
+      p.y = static_cast<float>(cp.y);
+      p.z = static_cast<float>(cp.z);
       cps->push_back (p);
     }
     pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> handler (cps, 255 * r, 255 * g, 255 * b);

examples/surface/example_nurbs_fitting_surface.cpp

@@ -202,9 +202,9 @@ visualizeCurve (ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualizati
     double pnt[3];
     surface.Evaluate (p1.x, p1.y, 0, 3, pnt);
     pcl::PointXYZRGB p2;
-    p2.x = float (pnt[0]);
-    p2.y = float (pnt[1]);
-    p2.z = float (pnt[2]);
+    p2.x = static_cast<float>(pnt[0]);
+    p2.y = static_cast<float>(pnt[1]);
+    p2.z = static_cast<float>(pnt[2]);
 
     p2.r = 255;
     p2.g = 0;

examples/surface/example_nurbs_viewer_surface.cpp

@@ -48,7 +48,13 @@ main (int argc, char *argv[])
     return -1;
   }
 
-  const ON_NurbsSurface& on_surf = *(ON_NurbsSurface*)on_object;
+  const auto* on_surf_ptr = dynamic_cast<const ON_NurbsSurface*>(on_object);
+  if (!on_surf_ptr)
+  {
+    std::cerr << "object[0] is not a NURBS surface." << std::endl;
+    return -1;
+  }
+  const ON_NurbsSurface& on_surf = *on_surf_ptr;
 
   pcl::PolygonMesh mesh;
   std::string mesh_id = "mesh_nurbs";
@@ -68,7 +74,13 @@ main (int argc, char *argv[])
       return -1;
     }
 
-    const ON_NurbsCurve& on_curv = *(ON_NurbsCurve*)on_object;
+    const auto* on_curv_ptr = dynamic_cast<const ON_NurbsCurve*>(on_object);
+    if (!on_curv_ptr)
+    {
+      std::cerr << "object[1] is not a NURBS curve." << std::endl;
+      return -1;
+    }
+    const ON_NurbsCurve& on_curv = *on_curv_ptr;
 
     pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (on_surf, on_curv, mesh,
                                                                      mesh_resolution);

examples/surface/test_nurbs_fitting_surface.cpp

@@ -12,15 +12,15 @@ CreateCylinderPoints (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_v
 {
   for (unsigned i = 0; i < npoints; i++)
   {
-    double da = alpha * double (rand ()) / RAND_MAX;
-    double dh = h * (double (rand ()) / RAND_MAX - 0.5);
+    double da = alpha * static_cast<double>(rand ()) / RAND_MAX;
+    double dh = h * (static_cast<double>(rand ()) / RAND_MAX - 0.5);
 
     Point p;
-    p.x = float (r * std::cos (da));
-    p.y = float (r * sin (da));
-    p.z = float (dh);
+    p.x = static_cast<float>(r * std::cos (da));
+    p.y = static_cast<float>(r * sin (da));
+    p.z = static_cast<float>(dh);
 
-    data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
+    data.emplace_back (p.x, p.y, p.z);
     cloud->push_back (p);
   }
 }

features/include/pcl/features/ppfrgb.h

@@ -64,7 +64,7 @@ namespace pcl
         * \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature);
         */
       void
-      computeFeature (PointCloudOut &output);
+      computeFeature (PointCloudOut &output) override;
   };
 
   template <typename PointInT, typename PointNT, typename PointOutT>

outofcore/include/pcl/outofcore/impl/lru_cache.hpp

@@ -33,9 +33,7 @@ class LRUCache
 
   using KeyIndex = std::list<KeyT>;
   using KeyIndexIterator = typename KeyIndex::iterator;
-
   using Cache = std::map<KeyT, std::pair<CacheItemT, typename KeyIndex::iterator> >;
-  using CacheIterator = typename Cache::iterator;
 
   LRUCache (std::size_t c) :
       capacity_ (c)
@@ -53,7 +51,7 @@ class LRUCache
   get (const KeyT& k)
   {
     // Get existing key
-    const CacheIterator it = cache_.find (k);
+    const auto it = cache_.find (k);
     assert(it != cache_.end ());
 
     // Move key to MRU key index
@@ -67,7 +65,7 @@ class LRUCache
   touch (const KeyT& key)
   {
     // Get existing key
-    const CacheIterator it = cache_.find (key);
+    const auto it = cache_.find (key);
     assert(it != cache_.end ());
 
     // Move key to MRU key index
@@ -93,7 +91,7 @@ class LRUCache
 
     while (size + item_size >= capacity_)
     {
-      const CacheIterator cache_it = cache_.find (*key_it);
+      const auto cache_it = cache_.find (*key_it);
 
       // Get tail item (Least Recently Used)
       std::size_t tail_timestamp = cache_it->second.first.timestamp;
@@ -133,7 +131,7 @@ class LRUCache
   CacheItemT&
   tailItem ()
   {
-    const CacheIterator it = cache_.find (key_index_.front ());
+    const auto it = cache_.find (key_index_.front ());
     return it->second.first;
   }
 
@@ -153,7 +151,7 @@ class LRUCache
         return false;
 
       // Get LRU item
-      const CacheIterator it = cache_.find (key_index_.front ());
+      const auto it = cache_.find (key_index_.front ());
       assert(it != cache_.end());
 
       // Remove LRU item from cache and key index

recognition/include/pcl/recognition/3rdparty/.clang-tidy

@@ -0,0 +1,8 @@
+---
+# Minimal checks for third-party code - disable all except one to avoid CI "no checks" error
+Checks: '-*,-clang-diagnostic-*,-clang-analyzer-*,readability-identifier-naming'
+WarningsAsErrors: ''
+CheckOptions:
+  # Effectively disables the check by not configuring naming rules
+  - key: readability-identifier-naming.AbstractClassCase
+    value: ''

surface/include/pcl/surface/3rdparty/.clang-tidy

@@ -0,0 +1,8 @@
+---
+# Minimal checks for third-party code - disable all except one to avoid CI "no checks" error
+Checks: '-*,-clang-diagnostic-*,-clang-analyzer-*,readability-identifier-naming'
+WarningsAsErrors: ''
+CheckOptions:
+  # Effectively disables the check by not configuring naming rules
+  - key: readability-identifier-naming.AbstractClassCase
+    value: ''

surface/include/pcl/surface/on_nurbs/fitting_curve_2d.h

@@ -58,12 +58,9 @@ namespace pcl
         /** \brief Parameters for fitting */
         struct Parameter
         {
-          double smoothness;
-          double rScale;
-          Parameter () :
-            smoothness (0.1), rScale (1.0)
-          {
-          }
+          double smoothness{0.1};
+          double rScale{1.0};
+          Parameter () = default;
         };
 
         struct FitParameter

surface/include/pcl/surface/on_nurbs/fitting_curve_2d_apdm.h

@@ -58,18 +58,14 @@ namespace pcl
         /** \brief Parameters for fitting */
         struct Parameter
         {
-          double interior_sigma2;
-          double smoothness;
-          double closest_point_weight;
-          double closest_point_sigma2;
-          unsigned closest_point_resolution;
-          double smooth_concavity;
-          double rScale;
-          Parameter () :
-            interior_sigma2 (0.1), smoothness (0.1), closest_point_weight (0.1), closest_point_sigma2 (0.1),
-                closest_point_resolution (0), smooth_concavity (1.0), rScale (1.0)
-          {
-          }
+          double interior_sigma2{0.1};
+          double smoothness{0.1};
+          double closest_point_weight{0.1};
+          double closest_point_sigma2{0.1};
+          unsigned closest_point_resolution{0};
+          double smooth_concavity{1.0};
+          double rScale{1.0};
+          Parameter () = default;
         };
 
         struct FitParameter

surface/include/pcl/surface/on_nurbs/fitting_curve_2d_pdm.h

@@ -58,12 +58,9 @@ namespace pcl
         /** \brief Parameters for fitting */
         struct Parameter
         {
-          double smoothness;
-          double rScale;
-          Parameter () :
-            smoothness (0.1), rScale (1.0)
-          {
-          }
+          double smoothness{0.1};
+          double rScale{1.0};
+          Parameter () = default;
         };
 
         struct FitParameter

surface/include/pcl/surface/on_nurbs/fitting_surface_im.h

@@ -59,11 +59,8 @@ namespace pcl
       /** \brief Parameters for fitting */
       struct Parameter
       {
-        double smoothness;
-        Parameter () :
-          smoothness (0.1)
-        {
-        }
+        double smoothness{0.1};
+        Parameter () = default;
       };
 
     protected:

surface/include/pcl/surface/on_nurbs/nurbs_data.h

@@ -51,9 +51,9 @@ namespace pcl
   {
 
     // http://eigen.tuxfamily.org/dox-devel/TopicStlContainers.html
-    typedef std::vector<Eigen::Vector2i, Eigen::aligned_allocator<Eigen::Vector2i> > vector_vec2i;
-    typedef std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > vector_vec2d;
-    typedef std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > vector_vec3d;
+    using vector_vec2i = std::vector<Eigen::Vector2i, Eigen::aligned_allocator<Eigen::Vector2i>>;
+    using vector_vec2d = std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d>>;
+    using vector_vec3d = std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d>>;
 
     /** \brief Data structure for NURBS surface fitting
      * (FittingSurface, FittingSurfaceTDM, FittingCylinder, GlobalOptimization, GlobalOptimizationTDM) */

surface/include/pcl/surface/on_nurbs/nurbs_solve.h

@@ -53,10 +53,7 @@ namespace pcl
     {
     public:
       /** \brief Empty constructor */
-      NurbsSolve () :
-        m_quiet (true)
-      {
-      }
+      NurbsSolve () = default;
 
       /** \brief Assign size and dimension (2D, 3D) of system of equations. */
       void
@@ -122,7 +119,7 @@ namespace pcl
       }
 
     private:
-      bool m_quiet;
+      bool m_quiet{true};
       SparseMat m_Ksparse;
       Eigen::MatrixXd m_Keig;
       Eigen::MatrixXd m_xeig;

surface/src/3rdparty/.clang-tidy

@@ -0,0 +1,8 @@
+---
+# Minimal checks for third-party code - disable all except one to avoid CI "no checks" error
+Checks: '-*,-clang-diagnostic-*,-clang-analyzer-*,readability-identifier-naming'
+WarningsAsErrors: ''
+CheckOptions:
+  # Effectively disables the check by not configuring naming rules
+  - key: readability-identifier-naming.AbstractClassCase
+    value: ''