refactor(ndt_omp): apply static analysis

[a-maumau]

Description

This PR applies some suggestions from the linter to code.
Checked with clang-tidy and cppcheck.

needs to be merged with autowarefoundation/autoware.universe#8124

Fixed:

• use explicit cast
• add initialization [cppcoreguidelines-init-variables]
• add missing headers
• change function/method
  • use lowercase
  • add keyword to function/method which linter suggested
• use prefix ++ operator
  • for performance
• removed
  • unused var, if branch

Not Fixed:

• error from under /usr/*
  • currently, it can't suppressed the errors using the autoware's settings: https://github.com/orgs/autowarefoundation/discussions/4876#discussioncomment-9900497
• safe access to members of unions by boost::variant
  • speed concern
• pointer arithmetic (cppcoreguidelines-pro-bounds-pointer-arithmetic)
• [readability-function-cognitive-complexity] from clang-tidy of function applyFilter
• using reinterpret_cast
• cppcoreguidelines-macro-usage

  • ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp

    Line 420 in ef654bd

    #define PCL_INSTANTIATE_VoxelGridCovariance(T) template class PCL_EXPORTS pcl::VoxelGridCovariance<T>;

• cppcoreguidelines-pro-type-member-init
  • for thread_num_ in

    ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp

    Line 105 in ef654bd

    setThreadNum(other.thread_num_);

    which initialized in the method
• [openmp-use-default-none]
• [missingMemberCopy]
  • because of comment from

    ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp

    Line 70 in ef654bd

    // No need to copy j_ang_ and h_ang_, as those matrices are re-computed on every computeDerivatives() call

• (deprecated warning for testGradient, not scoped for this PR)

Interface Changes

This PR will change the estimate_xy_covariance_by_Laplace_approximation to estimate_xy_covariance_by_laplace_approximation (lowercase laplace) which effect the ndt_scan_matcher.

Checks

Checked with clang-tidy (v14.0.0) and cppcheck (v2.14.1).

Use .cppcheck_suppressions for suppressing some notation from cppcheck.

For ignoring some notes using the autoware, autoware.universe repo's suppression files , you need to add followings:

• CPPLINT.cfg: filter=-legal/copyright
• .cppcheck_supressions: missingMemberCopy

check_linter.sh

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

---

Before fixing the code:

Check with check_linter.sh

$ ./check_linter.sh ndt_omp
...
Done processing ./src/universe/external/ndt_omp/src/multigrid_pclomp/multi_voxel_grid_covariance_omp.cpp
Done processing ./src/universe/external/ndt_omp/src/pclomp/gicp_omp.cpp
./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:27:  Single-parameter constructors should be marked explicit.  [runtime/explicit] [5]
Done processing ./src/universe/external/ndt_omp/src/multigrid_pclomp/multigrid_ndt_omp.cpp
Done processing ./src/universe/external/ndt_omp/src/pclomp/ndt_omp.cpp
Done processing ./src/universe/external/ndt_omp/src/pclomp/voxel_grid_covariance_omp.cpp
Done processing ./src/universe/external/ndt_omp/apps/timer.hpp
./src/universe/external/ndt_omp/apps/util.hpp:27:  Add #include <algorithm> for sort  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/apps/util.hpp:56:  Add #include <string> for string  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/apps/util.hpp:56:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/apps/util.hpp
Total errors found: 3
./src/universe/external/ndt_omp/include/estimate_covariance/estimate_covariance.hpp:29:  Add #include <memory> for shared_ptr<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/estimate_covariance/estimate_covariance.hpp:54:  Add #include <utility> for pair<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/estimate_covariance/estimate_covariance.hpp:55:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/estimate_covariance/estimate_covariance.hpp
Total errors found: 3
./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:84:  Add #include <map> for map<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:85:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:87:  Add #include <utility> for pair<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:87:  Add #include <string> for string  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp
Total errors found: 5
Done processing ./src/universe/external/ndt_omp/include/pclomp/ndt_struct.hpp
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:55:  Using deprecated casting style.  Use static_cast<int>(...) instead  [readability/casting] [4]
Done processing ./src/universe/external/ndt_omp/apps/align.cpp
Done processing ./src/universe/external/ndt_omp/apps/regression_test.cpp
Done processing ./src/universe/external/ndt_omp/src/estimate_covariance/estimate_covariance.cpp
Done processing ./src/universe/external/ndt_omp/apps/check_covariance.cpp
./src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:204:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:204:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:243:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:373:  Using deprecated casting style.  Use static_cast<double>(...) instead  [readability/casting] [4]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:382:  Using deprecated casting style.  Use static_cast<double>(...) instead  [readability/casting] [4]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:383:  Using deprecated casting style.  Use static_cast<double>(...) instead  [readability/casting] [4]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:395:  Do not use namespace using-directives.  Use using-declarations instead.  [build/namespaces] [5]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:439:  Using deprecated casting style.  Use static_cast<double>(...) instead  [readability/casting] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:209:  Add #include <utility> for move  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:282:  Add #include <string> for string  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:282:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:340:  Add #include <map> for map<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:456:  Add #include <limits> for numeric_limits<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp
Total errors found: 5
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:536:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:351:  Add #include <limits> for numeric_limits<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:429:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp
Total errors found: 4
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:484:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp:492:  Add #include <utility> for pair<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp
Total errors found: 10
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:789:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:789:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:796:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:796:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:807:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:797:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:797:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:836:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:836:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:804:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:804:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:815:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:854:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:854:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:844:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:844:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:878:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:878:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:862:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:862:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:906:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:886:  An else should appear on the same line as the preceding }  [whitespace/newline] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:886:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:914:  If an else has a brace on one side, it should have it on both  [readability/braces] [5]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:149:  Add #include <utility> for move  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:994:  Add #include <algorithm> for max  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:1131:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp
Total errors found: 15
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:1002:  Add #include <algorithm> for max  [build/include_what_you_use] [4]
./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:1207:  Add #include <vector> for vector<>  [build/include_what_you_use] [4]
Done processing ./src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp

Check with cppcheck:

(in .../ndt_omp)
$ cppcheck --enable=all --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive --suppressions-list=$HOME/autoware/src/universe/autoware.universe/.cppcheck_suppressions ./apps ./src/ -I include/

Checking apps/align.cpp ...
include/pclomp/gicp_omp.h:343:5: style: Struct 'OptimizationFunctorWithIndices' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
    OptimizationFunctorWithIndices(const GeneralizedIterativeClosestPoint * gicp)
    ^
include/pclomp/ndt_omp.h:186:3: performance: Function 'getFinalTransformationArray()' should return member 'transformation_array_' by const reference. [returnByReference]
  getFinalTransformationArray() const
  ^
include/multigrid_pclomp/multigrid_ndt_omp.h:232:3: performance: Function 'getFinalTransformationArray()' should return member 'transformation_array_' by const reference. [returnByReference]
  getFinalTransformationArray() const
  ^
apps/align.cpp:91:11: style: Variable 'aligned' is reassigned a value before the old one has been used. [redundantAssignment]
  aligned = align(ndt, target_cloud, source_cloud);
          ^
apps/align.cpp:85:11: note: aligned is assigned
  aligned = align(gicp_omp, target_cloud, source_cloud);
          ^
apps/align.cpp:91:11: note: aligned is overwritten
  aligned = align(ndt, target_cloud, source_cloud);
          ^
apps/align.cpp:116:13: style: Variable 'aligned' is reassigned a value before the old one has been used. [redundantAssignment]
    aligned = align(mg_ndt_omp, target_cloud, source_cloud);
            ^
apps/align.cpp:111:15: note: aligned is assigned
      aligned = align(ndt_omp, target_cloud, source_cloud);
              ^
apps/align.cpp:116:13: note: aligned is overwritten
    aligned = align(mg_ndt_omp, target_cloud, source_cloud);
            ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h:336:17: style: Variable 'thread_num_' is reassigned a value before the old one has been used. [redundantAssignment]
    thread_num_ = thread_num;
                ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h:333:19: note: thread_num_ is assigned
      thread_num_ = 1;
                  ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp.h:336:17: note: thread_num_ is overwritten
    thread_num_ = thread_num;
                ^
include/pclomp/voxel_grid_covariance_omp.h:389:88: performance: Prefer prefix ++/-- operators for non-primitive types. [postfixOperator]
    for (std::vector<int>::iterator iter = k_indices.begin(); iter != k_indices.end(); iter++) {
                                                                                       ^
include/pclomp/voxel_grid_covariance_omp.h:439:88: performance: Prefer prefix ++/-- operators for non-primitive types. [postfixOperator]
    for (std::vector<int>::iterator iter = k_indices.begin(); iter != k_indices.end(); iter++) {
                                                                                       ^
1/9 files checked 17% done
Checking apps/check_covariance.cpp ...
2/9 files checked 51% done
Checking apps/regression_test.cpp ...
apps/pcd_map_grid_manager.hpp:27:3: style: Class 'MapGridManager' has a constructor with 1 argument that is not explicit. [noExplicitConstructor]
  MapGridManager(const pcl::PointCloud<pcl::PointXYZ>::Ptr target_cloud)
  ^
3/9 files checked 69% done
Checking src/estimate_covariance/estimate_covariance.cpp ...
4/9 files checked 95% done
Checking src/multigrid_pclomp/multi_voxel_grid_covariance_omp.cpp ...
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:132:36: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  voxel_centroids_ptr_ = std::move(other.voxel_centroids_ptr_);
                                   ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:132:36: note: Access of moved variable 'other'.
  voxel_centroids_ptr_ = std::move(other.voxel_centroids_ptr_);
                                   ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:133:27: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  sid_to_iid_ = std::move(other.sid_to_iid_);
                          ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:133:27: note: Access of moved variable 'other'.
  sid_to_iid_ = std::move(other.sid_to_iid_);
                          ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:134:26: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  grid_list_ = std::move(other.grid_list_);
                         ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:134:26: note: Access of moved variable 'other'.
  grid_list_ = std::move(other.grid_list_);
                         ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:135:23: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  kdtree_ = std::move(other.kdtree_);
                      ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:135:23: note: Access of moved variable 'other'.
  kdtree_ = std::move(other.kdtree_);
                      ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:136:26: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  leaf_ptrs_ = std::move(other.leaf_ptrs_);
                         ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:136:26: note: Access of moved variable 'other'.
  leaf_ptrs_ = std::move(other.leaf_ptrs_);
                         ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:138:27: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  min_points_per_voxel_ = other.min_points_per_voxel_;
                          ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:138:27: note: Access of moved variable 'other'.
  min_points_per_voxel_ = other.min_points_per_voxel_;
                          ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:139:30: warning: inconclusive: Access of moved variable 'other'. [accessMoved]
  min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_;
                             ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:131:37: note: Calling std::move(other)
  pcl::VoxelGrid<PointT>::operator=(std::move(other));
                                    ^
include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:139:30: note: Access of moved variable 'other'.
  min_covar_eigvalue_mult_ = other.min_covar_eigvalue_mult_;
                             ^
5/9 files checked 96% done
Checking src/multigrid_pclomp/multigrid_ndt_omp.cpp ...
include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:65:3: warning: inconclusive: Member variable 'MultiGridNormalDistributionsTransform < pcl :: PointXYZ , pcl :: PointXYZ >::j_ang_' is not assigned in the copy constructor. Should it be copied? [missingMemberCopy]
  MultiGridNormalDistributionsTransform(const MultiGridNormalDistributionsTransform & other)
  ^
...(omitted)

---

After this PR:

Check with check_linter.sh

$ ./check_linter.sh ndt_omp
...
4240 warnings generated.
Suppressed 4240 warnings (4240 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
15480 warnings and 20 errors generated.
Error while processing /home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/gicp_omp_impl.hpp.
error: too many errors emitted, stopping now [clang-diagnostic-error]
/usr/include/pcl-1.12/pcl/registration/boost.h:41:1: error: C++ requires a type specifier for all declarations [clang-diagnostic-error]
PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.")
^
/usr/include/pcl-1.12/pcl/registration/boost.h:41:82: error: expected ';' after top level declarator [clang-diagnostic-error]
PCL_DEPRECATED_HEADER(1, 15, "Please include the needed boost headers directly.")
                                                                                 ^
/usr/include/stdlib.h:98:8: error: unknown type name 'size_t' [clang-diagnostic-error]
extern size_t __ctype_get_mb_cur_max (void) __THROW __wur;
       ^
... (omitted)
/usr/include/x86_64-linux-gnu/sys/types.h:108:19: note: 'ssize_t' declared here
typedef __ssize_t ssize_t;
                  ^
Suppressed 15480 warnings (15480 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
Found compiler error(s).
11891 warnings generated.
Suppressed 11893 warnings (11891 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
27496 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:37:54: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      const int x = static_cast<int>(std::ceil(point.x / resolution_));
                                                     ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/pcd_map_grid_manager.hpp:38:54: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      const int y = static_cast<int>(std::ceil(point.y / resolution_));
                                                     ^
Suppressed 27496 warnings (27494 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
32574 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/util.hpp:33:24: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
    files.emplace_back(buffer.gl_pathv[i]);
                       ^
Suppressed 32575 warnings (32573 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
41071 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:55:43: warning: function 'applyFilter' has cognitive complexity of 101 (threshold 25) [readability-function-cognitive-complexity]
void pclomp::VoxelGridCovariance<PointT>::applyFilter(PointCloud & output)
                                          ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:60:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!input_) {
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:75:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!filter_field_name_.empty())  // If we don't want to process the entire cloud...
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:79:3: note: +1, nesting level increased to 1
  else
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:87:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if ((dx * dy * dz) > std::numeric_limits<int32_t>::max()) {
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:117:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (downsample_all_data_) centroid_size = boost::mpl::size<FieldList>::value;
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:123:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (rgba_index == -1) rgba_index = pcl::getFieldIndex<PointT>("rgba", fields);
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:124:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (rgba_index >= 0) {
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:131:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!filter_field_name_.empty()) {
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:135:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    if (distance_idx == -1)
    ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:141:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (size_t cp = 0; cp < input_->points.size(); ++cp) {
    ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:142:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (!input_->is_dense)
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:144:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:145:88: note: +1
          !std::isfinite(input_->points[cp].x) || !std::isfinite(input_->points[cp].y) ||
                                                                                       ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:154:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (filter_limit_negative_) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:156:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if ((distance_value < filter_limit_max_) && (distance_value > filter_limit_min_)) continue;
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:156:50: note: +1
        if ((distance_value < filter_limit_max_) && (distance_value > filter_limit_min_)) continue;
                                                 ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:157:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:159:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if ((distance_value > filter_limit_max_) || (distance_value < filter_limit_min_)) continue;
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:159:50: note: +1
        if ((distance_value > filter_limit_max_) || (distance_value < filter_limit_min_)) continue;
                                                 ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:173:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (leaf.nr_points == 0) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:185:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (!downsample_all_data_) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:188:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:192:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (rgba_index >= 0) {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:209:5: note: +1, nesting level increased to 1
  } else {
    ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:211:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (size_t cp = 0; cp < input_->points.size(); ++cp) {
    ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:212:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (!input_->is_dense)
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:214:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:215:88: note: +1
          !std::isfinite(input_->points[cp].x) || !std::isfinite(input_->points[cp].y) ||
                                                                                       ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:232:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (leaf.nr_points == 0) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:244:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (!downsample_all_data_) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:247:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:251:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (rgba_index >= 0) {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:270:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (searchable_) voxel_centroids_leaf_indices_.reserve(leaves_.size());
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:272:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (save_leaf_layout_) leaf_layout_.resize(div_b_[0] * div_b_[1] * div_b_[2], -1);
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:283:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (auto it = leaves_.begin(); it != leaves_.end(); ++it) {
  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:297:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    if (leaf.nr_points >= min_points_per_voxel_) {
    ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:298:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (save_leaf_layout_) leaf_layout_[it->first] = cp++;
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:303:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (!downsample_all_data_) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:307:9: note: +1, nesting level increased to 3
      } else {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:311:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (rgba_index >= 0) {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:324:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (searchable_) voxel_centroids_leaf_indices_.push_back(static_cast<int>(it->first));
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:336:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (eigen_val(0, 0) < 0 || eigen_val(1, 1) < 0 || eigen_val(2, 2) <= 0) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:336:54: note: +1
      if (eigen_val(0, 0) < 0 || eigen_val(1, 1) < 0 || eigen_val(2, 2) <= 0) {
                                                     ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:344:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (eigen_val(0, 0) < min_covar_eigvalue) {
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:347:9: note: +4, including nesting penalty of 3, nesting level increased to 4
        if (eigen_val(1, 1) < min_covar_eigvalue) {
        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:356:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (
      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:357:73: note: +1
        leaf.icov_.maxCoeff() == std::numeric_limits<float>::infinity() ||
                                                                        ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:150:30: warning: do not use reinterpret_cast [cppcoreguidelines-pro-type-reinterpret-cast]
      const auto * pt_data = reinterpret_cast<const uint8_t *>(&input_->points[cp]);
                             ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:152:39: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
      memcpy(&distance_value, pt_data + fields[distance_idx].offset, sizeof(float));
                                      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:194:24: warning: variable 'rgb' is not initialized [cppcoreguidelines-init-variables]
          unsigned int rgb;
                       ^
                           = 0
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:196:19: warning: do not use reinterpret_cast [cppcoreguidelines-pro-type-reinterpret-cast]
            &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index,
                  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:196:71: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
            &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index,
                                                                      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:253:24: warning: variable 'rgb' is not initialized [cppcoreguidelines-init-variables]
          unsigned int rgb;
                       ^
                           = 0
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:255:19: warning: do not use reinterpret_cast [cppcoreguidelines-pro-type-reinterpret-cast]
            &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
                  ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:255:71: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
            &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
                                                                      ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:281:10: warning: variable 'min_covar_eigvalue' is not initialized [cppcoreguidelines-init-variables]
  double min_covar_eigvalue;
         ^
                            = NAN
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:319:18: warning: do not use reinterpret_cast [cppcoreguidelines-pro-type-reinterpret-cast]
          memcpy(reinterpret_cast<char *>(&output.points.back()) + rgba_index, &rgb, sizeof(float));
                 ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:319:66: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
          memcpy(reinterpret_cast<char *>(&output.points.back()) + rgba_index, &rgb, sizeof(float));
                                                                 ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/voxel_grid_covariance_omp_impl.hpp:482:9: warning: function-like macro 'PCL_INSTANTIATE_VoxelGridCovariance' used; consider a 'constexpr' template function [cppcoreguidelines-macro-usage]
#define PCL_INSTANTIATE_VoxelGridCovariance(T) \
        ^
Suppressed 41060 warnings (41058 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
40942 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:69:1: warning: constructor does not initialize these fields: thread_num_ [cppcoreguidelines-pro-type-member-init]
template <typename PointT>
^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:91:1: warning: constructor does not initialize these fields: thread_num_ [cppcoreguidelines-pro-type-member-init]
template <typename PointT>
^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multi_voxel_grid_covariance_omp_impl.hpp:471:9: warning: function-like macro 'PCL_INSTANTIATE_VoxelGridCovariance' used; consider a 'constexpr' template function [cppcoreguidelines-macro-usage]
#define PCL_INSTANTIATE_VoxelGridCovariance(T) \
        ^
Suppressed 40941 warnings (40939 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
46001 warnings generated.
Suppressed 46003 warnings (46001 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
48876 warnings generated.
Suppressed 48878 warnings (48876 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
51361 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:51:1: warning: constructor does not initialize these fields: nearest_voxel_transformation_likelihood_ [cppcoreguidelines-pro-type-member-init]
template <typename PointSource, typename PointTarget>
^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:72:10: warning: variable 'gauss_c1' is not initialized [cppcoreguidelines-init-variables]
  double gauss_c1;
         ^
                  = NAN
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/pclomp/ndt_omp_impl.hpp:73:10: warning: variable 'gauss_c2' is not initialized [cppcoreguidelines-init-variables]
  double gauss_c2;
         ^
                  = NAN
... (omitted)
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:513:10: warning: variable 'sy' is not initialized [cppcoreguidelines-init-variables]
  double sy;
         ^
            = NAN
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:514:10: warning: variable 'sz' is not initialized [cppcoreguidelines-init-variables]
  double sz;
         ^
            = NAN
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:712:1: warning: OpenMP directive 'parallel for' does not specify 'default' clause, consider specifying 'default(none)' clause [openmp-use-default-none]
#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8)
^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:877:12: warning: variable 'a_t_next' is not initialized [cppcoreguidelines-init-variables]
    double a_t_next;
           ^
                    = NAN
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:1076:1: warning: OpenMP directive 'parallel for' does not specify 'default' clause, consider specifying 'default(none)' clause [openmp-use-default-none]
#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8)
^
/home/masakibaba/autoware/src/universe/external/ndt_omp/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp:1135:1: warning: OpenMP directive 'parallel for' does not specify 'default' clause, consider specifying 'default(none)' clause [openmp-use-default-none]
#pragma omp parallel for num_threads(params_.num_threads) schedule(guided, 8)
^
Suppressed 50676 warnings (50674 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
55407 warnings generated.
Suppressed 55409 warnings (55407 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
72133 warnings generated.
Suppressed 72135 warnings (72133 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
67689 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/check_covariance.cpp:31:33: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  const std::string input_dir = argv[1];
                                ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/check_covariance.cpp:32:34: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  const std::string output_dir = argv[2];
                                 ^
Suppressed 67689 warnings (67687 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
79453 warnings generated.
Suppressed 79455 warnings (79451 in non-user code, 2 NOLINT, 2 with check filters).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
76622 warnings generated.
Suppressed 76624 warnings (76622 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
73310 warnings generated.
Suppressed 73312 warnings (73310 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
66882 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/regression_test.cpp:46:33: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  const std::string input_dir = argv[1];
                                ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/regression_test.cpp:47:34: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  const std::string output_dir = argv[2];
                                 ^
Suppressed 66882 warnings (66880 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
111674 warnings generated.
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/align.cpp:47:28: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  std::string target_pcd = argv[1];
                           ^
/home/masakibaba/autoware/src/universe/external/ndt_omp/apps/align.cpp:48:28: warning: do not use pointer arithmetic [cppcoreguidelines-pro-bounds-pointer-arithmetic]
  std::string source_pcd = argv[2];
                           ^
Suppressed 111674 warnings (111672 in non-user code, 2 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Check with cppcheck

(in .../ndt_omp)
$ cppcheck --enable=all --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive --suppressions-list=$HOME/autoware/src/universe/autoware.universe/.cppcheck_suppressions ./apps ./src/ -I include/

Checking apps/align.cpp ...
1/9 files checked 17% done
Checking apps/check_covariance.cpp ...
2/9 files checked 52% done
Checking apps/regression_test.cpp ...
3/9 files checked 69% done
Checking src/estimate_covariance/estimate_covariance.cpp ...
4/9 files checked 95% done
Checking src/multigrid_pclomp/multi_voxel_grid_covariance_omp.cpp ...
5/9 files checked 96% done
Checking src/multigrid_pclomp/multigrid_ndt_omp.cpp ...
6/9 files checked 97% done
Checking src/pclomp/gicp_omp.cpp ...
7/9 files checked 98% done
Checking src/pclomp/ndt_omp.cpp ...
8/9 files checked 99% done
Checking src/pclomp/voxel_grid_covariance_omp.cpp ...
9/9 files checked 100% done

Test

• Confirmed regression_test passed.
• Successfully building the autoware and it can run the ndt_scan_matcher.
  • you need apply the interface change to ndt_scan_matcher

[SakodaShintaro]

I will review this after Ando-san's points are corrected.

[a-maumau]

I also re-checked with updated .cppcheck_suppressions in autoware.universe and apply the changed at 76a9da9 and
c5123d7.

You may need to use --inline-suppr to enable the inline suppression feature for checking with cppcheck.

[YamatoAndo]

LTGM!
（I haven't reviewed the include/pclomp because it is scheduled to be deleted.）

[YamatoAndo]

@SakodaShintaro Could you please start your review?

[a-maumau]

To avoid the build error until merging the autowarefoundation/autoware.universe#8124 , I added estimate_xy_covariance_by_Laplace_approximation for the temporal compatibility.

[SakodaShintaro]

Thank you very much!