Addressed review comments

segmentation/include/pcl/segmentation/extract_clusters.h

@@ -337,7 +337,7 @@ namespace pcl
 
       //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
       /** \brief Empty constructor. */
-      EuclideanClusterExtraction () : tree_ () {};
+      EuclideanClusterExtraction () = default;
 
       /** \brief Provide a pointer to the search object.
         * \param[in] tree a pointer to the spatial search object.

segmentation/include/pcl/segmentation/grabcut_segmentation.h

@@ -256,10 +256,8 @@ namespace pcl
       class GaussianFitter
       {
         public:
-        GaussianFitter (float epsilon = 0.0001)
-          : sum_ (Eigen::Vector3f::Zero ())
-          , accumulator_ (Eigen::Matrix3f::Zero ())
-          , epsilon_ (epsilon)
+        GaussianFitter (float epsilon = 0.0001f)
+          : epsilon_ (epsilon)
         {}
 
         /// Add a color sample
@@ -280,13 +278,13 @@ namespace pcl
 
         private:
         /// sum of r,g, and b
-        Eigen::Vector3f sum_{};
+        Eigen::Vector3f sum_{Eigen::Vector3f::Zero ()};
         /// matrix of products (i.e. r*r, r*g, r*b), some values are duplicated.
-        Eigen::Matrix3f accumulator_{};
+        Eigen::Matrix3f accumulator_{Eigen::Matrix3f::Zero ()};
         /// count of color samples added to the gaussian
         std::uint32_t count_{0};
         /// small value to add to covariance matrix diagonal to avoid singular values
-        float epsilon_{0.0f};
+        float epsilon_{0.001f};
         PCL_MAKE_ALIGNED_OPERATOR_NEW
       };
 
@@ -394,12 +392,12 @@ namespace pcl
       // Storage for N-link weights, each pixel stores links to nb_neighbours
       struct NLinks
       {
-        NLinks () :  indices (0), dists (0), weights (0) {}
+        NLinks () = default;
 
         int nb_links{0};
-        Indices indices;
-        std::vector<float> dists;
-        std::vector<float> weights;
+        Indices indices{};
+        std::vector<float> dists{};
+        std::vector<float> weights{};
       };
       bool
       initCompute ();

segmentation/include/pcl/segmentation/impl/min_cut_segmentation.hpp

@@ -47,16 +47,7 @@
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT>
-pcl::MinCutSegmentation<PointT>::MinCutSegmentation () :
-  search_ (),
-  foreground_points_ (0),
-  background_points_ (0),
-  clusters_ (0),
-  vertices_ (0),
-  edge_marker_ (0)
-  ///////////////////////////////////
-{
-}
+pcl::MinCutSegmentation<PointT>::MinCutSegmentation () = default;
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT>

segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h

@@ -89,14 +89,7 @@ namespace pcl
       using PlaneRefinementComparatorConstPtr = typename PlaneRefinementComparator::ConstPtr;
 
       /** \brief Constructor for OrganizedMultiPlaneSegmentation. */
-      OrganizedMultiPlaneSegmentation () :
-        normals_ (), 
-
-        angular_threshold_ (pcl::deg2rad (3.0)), 
-
-        compare_ (new PlaneComparator ()), refinement_compare_ (new PlaneRefinementComparator ())
-      {
-      }
+      OrganizedMultiPlaneSegmentation () = default;
 
       /** \brief Destructor for OrganizedMultiPlaneSegmentation. */
 
@@ -277,13 +270,13 @@ namespace pcl
     protected:
 
       /** \brief A pointer to the input normals */
-      PointCloudNConstPtr normals_;
+      PointCloudNConstPtr normals_{nullptr};
 
       /** \brief The minimum number of inliers required for each plane. */
       unsigned min_inliers_{1000};
 
       /** \brief The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. */
-      double angular_threshold_;
+      double angular_threshold_{pcl::deg2rad (3.0)};
 
       /** \brief The tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. */
       double distance_threshold_{0.02};
@@ -295,10 +288,10 @@ namespace pcl
       bool project_points_{false};
 
       /** \brief A comparator for comparing neighboring pixels' plane equations. */
-      PlaneComparatorPtr compare_;
+      PlaneComparatorPtr compare_{new PlaneComparator};
 
       /** \brief A comparator for use on the refinement step.  Compares points to regions segmented in the first pass. */
-      PlaneRefinementComparatorPtr refinement_compare_;
+      PlaneRefinementComparatorPtr refinement_compare_{new PlaneRefinementComparatorPtr};
 
       /** \brief Class getName method. */
       virtual std::string

segmentation/include/pcl/segmentation/sac_segmentation.h

@@ -82,9 +82,7 @@ namespace pcl
         * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
         */
       SACSegmentation(bool random = false)
-      : model_()
-      , sac_()
-      , random_(random)
+      : random_(random)
       {}
 
       /** \brief Empty destructor. */
@@ -335,8 +333,6 @@ namespace pcl
         */
       SACSegmentationFromNormals (bool random = false) 
         : SACSegmentation<PointT> (random)
-        , normals_ ()
-
       {};
 
       /** \brief Provide a pointer to the input dataset that contains the point normals of 
@@ -393,7 +389,7 @@ namespace pcl
 
     protected:
       /** \brief A pointer to the input dataset that contains the point normals of the XYZ dataset. */
-      PointCloudNConstPtr normals_;
+      PointCloudNConstPtr normals_{nullptr};
 
       /** \brief The relative weight (between 0 and 1) to give to the angular
         * distance (0 to pi/2) between point normals and the plane normal. 

segmentation/include/pcl/segmentation/seeded_hue_segmentation.h

@@ -154,7 +154,7 @@ namespace pcl
       using BasePCLBase::deinitCompute;
 
       /** \brief A pointer to the spatial search object. */
-      KdTreePtr tree_;
+      KdTreePtr tree_{nullptr};
 
       /** \brief The spatial cluster tolerance as a measure in the L2 Euclidean space. */
       double cluster_tolerance_{0};

segmentation/include/pcl/segmentation/segment_differences.h

@@ -85,9 +85,7 @@ namespace pcl
       using PointIndicesConstPtr = PointIndices::ConstPtr;
 
       /** \brief Empty constructor. */
-      SegmentDifferences () : 
-        tree_ (), target_ () 
-      {};
+      SegmentDifferences () = default;
 
       /** \brief Provide a pointer to the target dataset against which we
         * compare the input cloud given in setInputCloud
@@ -139,15 +137,15 @@ namespace pcl
       using BasePCLBase::deinitCompute;
 
       /** \brief A pointer to the spatial search object. */
-      KdTreePtr tree_;
+      KdTreePtr tree_{nullptr};
 
       /** \brief The input target point cloud dataset. */
-      PointCloudConstPtr target_;
+      PointCloudConstPtr target_{nullptr};
 
       /** \brief The distance tolerance (squared) as a measure in the L2
         * Euclidean space between corresponding points. 
         */
-      double distance_threshold_{0};
+      double distance_threshold_{0.0};
 
       /** \brief Class getName method. */
       virtual std::string 

segmentation/include/pcl/segmentation/unary_classifier.h

@@ -145,18 +145,18 @@ namespace pcl
 
 
       /** \brief Contains the input cloud */
-      typename pcl::PointCloud<PointT>::Ptr input_cloud_;
+      typename pcl::PointCloud<PointT>::Ptr input_cloud_{nullptr};
 
       bool label_field_{false};
 
-      unsigned int cluster_size_;
+      unsigned int cluster_size_{0};
 
       float normal_radius_search_{0.01f};
       float fpfh_radius_search_{0.05f};
       float feature_threshold_{5.0};
 
 
-      std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_;
+      std::vector<pcl::PointCloud<pcl::FPFHSignature33>::Ptr> trained_features_{};
 
       /** \brief Contains normals of the points that will be segmented. */
       //typename pcl::PointCloud<pcl::Normal>::Ptr normals_;

tools/ply2ply.cpp

@@ -127,7 +127,7 @@ class ply_to_ply_converter
 
     format_type format_;
     pcl::io::ply::format_type input_format_{}, output_format_{};
-    bool bol_{};
+    bool bol_{false};
     std::ostream* ostream_{};
 };
 

tools/ply2raw.cpp

@@ -63,11 +63,7 @@ class ply_to_raw_converter
   public:
   ply_to_raw_converter() = default;
 
-  ply_to_raw_converter (const ply_to_raw_converter &f) :
-      ostream_ (), vertex_x_ (0), vertex_y_ (0), vertex_z_ (0), 
-      face_vertex_indices_element_index_ (),
-      face_vertex_indices_first_element_ (), 
-      face_vertex_indices_previous_element_ ()
+  ply_to_raw_converter (const ply_to_raw_converter &f)
     {
       *this = f;
     }