Fix warnings reported by clang

apps/src/ni_agast.cpp

@@ -216,7 +216,7 @@ class AGASTDemo
       keypoints3d.height = keypoints->height;
       keypoints3d.is_dense = true;
 
-      int j = 0;
+      size_t j = 0;
       for (size_t i = 0; i < keypoints->size (); ++i)
       {
         const PointT &pt = (*cloud)(static_cast<long unsigned int> (keypoints->points[i].u), 

apps/src/ni_brisk.cpp

@@ -179,7 +179,7 @@ class BRISKDemo
       keypoints3d.height = keypoints->height;
       keypoints3d.is_dense = true;
 
-      int j = 0;
+      size_t j = 0;
       for (size_t i = 0; i < keypoints->size (); ++i)
       {
         PointT pt = bilinearInterpolation (cloud, keypoints->points[i].x, keypoints->points[i].y);

apps/src/openni_tracking.cpp

@@ -449,7 +449,7 @@ class OpenNISegmentTracking
   }
 
   void addNormalToCloud (const CloudConstPtr &cloud,
-                         const pcl::PointCloud<pcl::Normal>::ConstPtr &normals,
+                         const pcl::PointCloud<pcl::Normal>::ConstPtr &,
                          RefCloud &result)
   {
     result.width = cloud->width;

apps/src/stereo_ground_segmentation.cpp

@@ -266,12 +266,12 @@ class HRCSSegmentation
       std::vector<Eigen::Matrix3f, Eigen::aligned_allocator<Eigen::Matrix3f> > covariances;
       std::vector<pcl::PointIndices> inlier_indices;
 
-      for (int i = 0; i < region_indices.size (); i++)
+      for (size_t i = 0; i < region_indices.size (); i++)
       {
         if (region_indices[i].indices.size () > 1000)
         {
 
-          for (int j = 0; j < region_indices[i].indices.size (); j++)
+          for (size_t j = 0; j < region_indices[i].indices.size (); j++)
           {  
             pcl::PointXYZ ground_pt (cloud->points[region_indices[i].indices[j]].x,
                                      cloud->points[region_indices[i].indices[j]].y,
@@ -354,11 +354,11 @@ class HRCSSegmentation
 
       //Note the regions that have been extended
       pcl::PointCloud<PointT> extended_ground_cloud;
-      for (int i = 0; i < region_indices.size (); i++)
+      for (size_t i = 0; i < region_indices.size (); i++)
       {
         if (region_indices[i].indices.size () > 1000)
         {
-          for (int j = 0; j < region_indices[i].indices.size (); j++)
+          for (size_t j = 0; j < region_indices[i].indices.size (); j++)
           {
             // Check to see if it has already been labeled
             if (ground_image->points[region_indices[i].indices[j]].g == ground_image->points[region_indices[i].indices[j]].b)
@@ -434,7 +434,7 @@ class HRCSSegmentation
               if ((ptp_dist > 0.5) && (ptp_dist < 3.0))
               {
 
-                for (int j = 0; j < euclidean_label_indices[i].indices.size (); j++)
+                for (size_t j = 0; j < euclidean_label_indices[i].indices.size (); j++)
                 {
                   ground_image->points[euclidean_label_indices[i].indices[j]].r = 255;
                   label_image->points[euclidean_label_indices[i].indices[j]].r = 255;
@@ -451,7 +451,7 @@ class HRCSSegmentation
       }
 
       // note the NAN points in the image as well
-      for (int i = 0; i < cloud->points.size (); i++)
+      for (size_t i = 0; i < cloud->points.size (); i++)
       {
         if (!pcl::isFinite (cloud->points[i]))
         {

io/src/robot_eye_grabber.cpp

@@ -193,7 +193,7 @@ pcl::RobotEyeGrabber::convertPacketData (unsigned char *data_packet, size_t leng
   const size_t bytes_per_point = 8;
   const size_t total_points = (length - offset)/ bytes_per_point;
 
-  for (int i = 0; i < total_points; ++i)
+  for (size_t i = 0; i < total_points; ++i)
   {
     PointXYZI xyzi;
     computeXYZI (xyzi, data_packet + i*bytes_per_point + offset);

keypoints/include/pcl/keypoints/impl/trajkovic_2d.hpp

@@ -220,7 +220,7 @@ pcl::TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT>::detectKeypoints (Poin
 #ifdef _OPENMP
 #pragma omp parallel for shared (output) num_threads (threads_)
 #endif
-  for (int i = 0; i < indices.size (); ++i)
+  for (size_t i = 0; i < indices.size (); ++i)
   {
     int idx = indices[i];
     if ((response_->points[idx] < second_threshold_) || occupency_map[idx])

keypoints/include/pcl/keypoints/impl/trajkovic_3d.hpp

@@ -234,7 +234,7 @@ pcl::TrajkovicKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCl
 #ifdef _OPENMP
 #pragma omp parallel for shared (output) num_threads (threads_)
 #endif
-  for (int i = 0; i < indices.size (); ++i)
+  for (size_t i = 0; i < indices.size (); ++i)
   {
     int idx = indices[i];
     if ((response_->points[idx] < second_threshold_) || occupency_map[idx])

keypoints/include/pcl/keypoints/trajkovic_3d.h

@@ -139,7 +139,7 @@ namespace pcl
 
       /// \brief \return points normals as calculated or given
       inline void
-      getNormals (const NormalsConstPtr &normals) const { return (normals_); }
+      getNormals () const { return (normals_); }
 
       /** \brief Initialize the scheduler and set the number of threads to use.
         * \param nr_threads the number of hardware threads to use, 0 for automatic.

segmentation/include/pcl/segmentation/impl/grabcut_segmentation.hpp

@@ -269,7 +269,7 @@ pcl::GrabCut<PointT>::initGraph ()
   graph_nodes_.clear ();
   graph_nodes_.resize (indices_->size ());
   int start = graph_.addNodes (indices_->size ());
-  for (int idx = 0; idx < indices_->size (); ++idx)
+  for (size_t idx = 0; idx < indices_->size (); ++idx)
   {
     graph_nodes_[idx] = start;
     ++start;

stereo/include/pcl/stereo/digital_elevation_map.h

@@ -36,10 +36,8 @@
 #ifndef PCL_DIGITAL_ELEVATION_MAP_H_
 #define PCL_DIGITAL_ELEVATION_MAP_H_
 
-#pragma warning(disable : 4996)
 #include <pcl/point_types.h>
 #include <pcl/stereo/disparity_map_converter.h>
-#pragma warning(default : 4996)
 
 namespace pcl
 { 

test/common/test_copy_make_borders.cpp

@@ -52,14 +52,14 @@ TEST (CopyPointCloud, constant)
   pcl::copyPointCloud (cloud, dst, top, bottom, left, right, pcl::BORDER_CONSTANT, constant);
 
   for (int j = 0; j < top; ++j)
-    for (int i = 0; i < dst.width; ++i)
+    for (uint32_t i = 0; i < dst.width; ++i)
       EXPECT_XYZ_EQ (dst (i,j), constant);
 
-  for (int j = top; j < cloud.height+top; ++j)
+  for (unsigned int j = top; j < cloud.height+top; ++j)
   {
-    for (int i = 0; i < dst.width; ++i)
+    for (uint32_t i = 0; i < dst.width; ++i)
     {
-      if (i < left)
+      if (static_cast<int> (i) < left)
         EXPECT_XYZ_EQ (dst (i,j), constant);
       else
       {
@@ -71,8 +71,8 @@ TEST (CopyPointCloud, constant)
     }
   }
 
-  for (int j = cloud.height+top; j < dst.height; ++j)
-    for (int i = 0; i < dst.width; ++i)
+  for (uint32_t j = cloud.height+top; j < dst.height; ++j)
+    for (uint32_t i = 0; i < dst.width; ++i)
       EXPECT_XYZ_EQ (dst (i,j), constant);
 }
 
@@ -85,17 +85,17 @@ TEST (CopyPointCloud, replicate)
   {
     for (int i = 0; i < left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (0,0));
-    for (int i = left; i < cloud.width+left; ++i)
+    for (unsigned int i = left; i < cloud.width+left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,0));
-    for (int i = cloud.width+left; i < dst.width; ++i)
+    for (uint32_t i = cloud.width+left; i < dst.width; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (cloud.width-1,0));
   }
 
-  for (int j = top; j < cloud.height+top; ++j)
+  for (unsigned int j = top; j < cloud.height+top; ++j)
   {
-    for (int i = 0; i < dst.width; ++i)
+    for (uint32_t i = 0; i < dst.width; ++i)
     {
-      if (i < left)
+      if (static_cast<int> (i) < left)
         EXPECT_XYZ_EQ (dst (i,j), cloud (0,j-top));
       else
       {
@@ -107,13 +107,13 @@ TEST (CopyPointCloud, replicate)
     }
   }
 
-  for (int j = cloud.height+top; j < dst.height; ++j)
+  for (uint32_t j = cloud.height+top; j < dst.height; ++j)
   {
     for (int i = 0; i < left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (0,cloud.height-1));
-    for (int i = left; i < cloud.width+left; ++i)
+    for (unsigned int i = left; i < cloud.width+left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,cloud.height-1));
-    for (int i = cloud.width+left; i < dst.width; ++i)
+    for (uint32_t i = cloud.width+left; i < dst.width; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (cloud.width-1,cloud.height-1));
   }
 }
@@ -128,19 +128,19 @@ TEST (CopyPointCloud, reflect)
     for (int i = 0, l = left-1; i < left; ++i, --l)
       EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
 
-    for (int i = left; i < cloud.width+left; ++i)
+    for (unsigned int i = left; i < cloud.width+left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,k));
 
     for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)
       EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
   }
 
-  for (int j = top; j < cloud.height+top; ++j)
+  for (unsigned int j = top; j < cloud.height+top; ++j)
   {
     for (int i = 0, l = left-1; i < left; ++i, --l)
       EXPECT_XYZ_EQ (dst (i,j), cloud (l, j-top));
 
-    for (int i = left; i < cloud.width + left; ++i)
+    for (unsigned int i = left; i < cloud.width + left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,j-top));
 
     for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)
@@ -152,7 +152,7 @@ TEST (CopyPointCloud, reflect)
     for (int i = 0, l = left-1; i < left; ++i, --l)
       EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
 
-    for (int i = left; i < cloud.width+left; ++i)
+    for (unsigned int i = left; i < cloud.width+left; ++i)
       EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,k));
 
     for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)

test/geometry/test_quad_mesh.cpp

@@ -369,7 +369,7 @@ TYPED_TEST (TestQuadMesh, NineQuads)
     {
       const FaceIndex index = mesh.addFace (ordered_faces [j]);
 
-      if (j < non_manifold [i] || !Mesh::IsManifold::value)
+      if (j < static_cast<unsigned int> (non_manifold [i]) || !Mesh::IsManifold::value)
       {
         EXPECT_TRUE (index.isValid ());
       }

test/io/test_io.cpp

@@ -796,7 +796,7 @@ TEST (PCL, ASCIIReader)
   EXPECT_GE(reader.read("test_pcd.txt", rcloud), 0);
   EXPECT_EQ(cloud.points.size(), rcloud.points.size() );
 
-  for(int i=0;i < rcloud.points.size(); i++){
+  for(size_t i=0;i < rcloud.points.size(); i++){
     EXPECT_FLOAT_EQ(cloud.points[i].x, rcloud.points[i].x);
     EXPECT_FLOAT_EQ(cloud.points[i].y,rcloud.points[i].y);
     EXPECT_FLOAT_EQ(cloud.points[i].z, rcloud.points[i].z);

visualization/include/pcl/visualization/impl/image_viewer.hpp

@@ -117,15 +117,14 @@ pcl::visualization::ImageViewer::addMask (
   search.setInputCloud (image);
   std::vector<float> xy;
   xy.reserve (mask.size () * 2);
-  const float image_height_f = static_cast<float> (image->height);
   for (size_t i = 0; i < mask.size (); ++i)
   {
     pcl::PointXY p_projected;
     search.projectPoint (mask[i], p_projected);
 
     xy.push_back (p_projected.x);
     #if ((VTK_MAJOR_VERSION >= 6) || ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION > 7)))
-    xy.push_back (image_height_f - p_projected.y);
+    xy.push_back (static_cast<float> (image->height) - p_projected.y);
     #else
     xy.push_back (p_projected.y);
     #endif
@@ -174,7 +173,6 @@ pcl::visualization::ImageViewer::addPlanarPolygon (
   // Construct a search object to get the camera parameters and fill points
   pcl::search::OrganizedNeighbor<T> search;
   search.setInputCloud (image);
-  const float image_height_f = static_cast<float> (image->height);
   std::vector<float> xy;
   xy.reserve ((polygon.getContour ().size () + 1) * 2);
   for (size_t i = 0; i < polygon.getContour ().size (); ++i)
@@ -183,7 +181,7 @@ pcl::visualization::ImageViewer::addPlanarPolygon (
     search.projectPoint (polygon.getContour ()[i], p);
     xy.push_back (p.x);
     #if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 7))
-    xy.push_back (image_height_f - p.y);
+    xy.push_back (static_cast<float> (image->height) - p.y);
     #else
     xy.push_back (p.y);
     #endif