Addressed review comments

PointCloudLibrary · Nov 14, 2022 · fab60ba · fab60ba
1 parent d248f58
commit fab60ba
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Showing 3 changed files with 11 additions and 13 deletions.
diff --git a/common/src/PCLPointCloud2.cpp b/common/src/PCLPointCloud2.cpp
@@ -58,17 +58,15 @@ pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPoi
   const auto size1 = cloud1.width * cloud1.height;
   const auto size2 = cloud2.width * cloud2.height;
   //if one input cloud has no points, but the other input does, just select the cloud with points
-  switch ((static_cast<bool>(size1) << 1) + static_cast<bool>(size2))
+  auto chooser = (static_cast<bool>(size1) << 1) + static_cast<bool>(size2);
+  if (chooser == 1) {
+    cloud1 = cloud2;
+  }
+
+  if ((chooser == 0) || (chooser == 2))
   {
-    case 1:
-      cloud1 = cloud2;
-      PCL_FALLTHROUGH
-    case 0:
-    case 2:
-      cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp);
-      return (true);
-    default:
-      break;
+    cloud1.header.stamp = std::max(cloud1.header.stamp, cloud2.header.stamp);
+    return (true);
   }
 
   // Ideally this should be in PCLPointField class since this is global behavior

diff --git a/features/include/pcl/features/impl/integral_image_normal.hpp b/features/include/pcl/features/impl/integral_image_normal.hpp
@@ -845,7 +845,7 @@ pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computeFeatureFull (con
     // top and bottom borders
     // That sets the output density to false!
     output.is_dense = false;
-    unsigned border = static_cast<int>(normal_smoothing_size_);
+    unsigned border = static_cast<unsigned>(normal_smoothing_size_);
     PointOutT* vec1 = &output [0];
     PointOutT* vec2 = vec1 + input_->width * (input_->height - border);
 
@@ -1027,7 +1027,7 @@ pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computeFeaturePart (con
   if (border_policy_ == BORDER_POLICY_IGNORE)
   {
     output.is_dense = false;
-    unsigned border = static_cast<int>(normal_smoothing_size_);
+    unsigned border = static_cast<unsigned>(normal_smoothing_size_);
     unsigned bottom = input_->height > border ? input_->height - border : 0;
     unsigned right = input_->width > border ? input_->width - border : 0;
     if (use_depth_dependent_smoothing_)

diff --git a/io/include/pcl/io/grabber.h b/io/include/pcl/io/grabber.h
@@ -262,11 +262,11 @@ namespace pcl
       operator std::unique_ptr<Base>() const { return std::make_unique<Signal>(); }
     };
     // TODO: remove later for C++17 features: structured bindings and try_emplace
+    std::string signame{typeid (T).name ()};
     #ifdef __cpp_structured_bindings
       const auto [iterator, success] =
     #else
       typename decltype(signals_)::const_iterator iterator;
-      std::string signame{typeid (T).name ()};
       bool success;
       std::tie (iterator, success) =
     #endif