Add more const

Co-authored-by: Lars Glud <larshg@gmail.com>

Author: mvieth

features/include/pcl/features/impl/moment_of_inertia_estimation.hpp

@@ -399,7 +399,7 @@ pcl::MomentOfInertiaEstimation<PointT>::computeEigenVectors (const Eigen::Matrix
   Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis, Eigen::Vector3f& minor_axis, float& major_value,
   float& middle_value, float& minor_value)
 {
-  Eigen::SelfAdjointEigenSolver<Eigen::Matrix<float, 3, 3>> eigen_solver(covariance_matrix);
+  const Eigen::SelfAdjointEigenSolver<Eigen::Matrix<float, 3, 3>> eigen_solver(covariance_matrix);
 
   const Eigen::SelfAdjointEigenSolver <Eigen::Matrix <float, 3, 3> >::EigenvectorsType& eigen_vectors = eigen_solver.eigenvectors ();
   const Eigen::SelfAdjointEigenSolver <Eigen::Matrix <float, 3, 3> >::RealVectorType& eigen_values = eigen_solver.eigenvalues ();

features/include/pcl/features/impl/our_cvfh.hpp

@@ -260,7 +260,7 @@ pcl::OURCVFHEstimation<PointInT, PointNT, PointOutT>::sgurf (Eigen::Vector3f & c
 
   scatter /= sum_w;
 
-  Eigen::JacobiSVD <Eigen::Matrix3f> svd (scatter, Eigen::ComputeFullV);
+  const Eigen::JacobiSVD <Eigen::Matrix3f> svd (scatter, Eigen::ComputeFullV);
   Eigen::Vector3f evx = svd.matrixV ().col (0);
   Eigen::Vector3f evy = svd.matrixV ().col (1);
   Eigen::Vector3f evz = svd.matrixV ().col (2);

io/src/dinast_grabber.cpp

@@ -353,7 +353,7 @@ pcl::DinastGrabber::USBRxControlData (const unsigned char req_code,
                                       int length)
 {
   // The direction of the transfer is inferred from the requesttype field of the setup packet.
-  unsigned char requesttype = (static_cast<unsigned char>(LIBUSB_RECIPIENT_DEVICE) | static_cast<unsigned char>(LIBUSB_REQUEST_TYPE_VENDOR) | static_cast<unsigned char>(LIBUSB_ENDPOINT_IN));
+  const unsigned char requesttype = (static_cast<unsigned char>(LIBUSB_RECIPIENT_DEVICE) | static_cast<unsigned char>(LIBUSB_REQUEST_TYPE_VENDOR) | static_cast<unsigned char>(LIBUSB_ENDPOINT_IN));
   // The value field for the setup packet
   std::uint16_t value = 0x02;
   // The index field for the setup packet
@@ -377,7 +377,7 @@ pcl::DinastGrabber::USBTxControlData (const unsigned char req_code,
                                       int length)
 {
   // The direction of the transfer is inferred from the requesttype field of the setup packet.
-  unsigned char requesttype = (static_cast<unsigned char>(LIBUSB_RECIPIENT_DEVICE) | static_cast<unsigned char>(LIBUSB_REQUEST_TYPE_VENDOR) | static_cast<unsigned char>(LIBUSB_ENDPOINT_OUT));
+  const unsigned char requesttype = (static_cast<unsigned char>(LIBUSB_RECIPIENT_DEVICE) | static_cast<unsigned char>(LIBUSB_REQUEST_TYPE_VENDOR) | static_cast<unsigned char>(LIBUSB_ENDPOINT_OUT));
   // The value field for the setup packet
   std::uint16_t value = 0x01;
   // The index field for the setup packet

keypoints/include/pcl/keypoints/impl/iss_3d.hpp

@@ -373,7 +373,7 @@ pcl::ISSKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCloudOut
       Eigen::Matrix3d cov_m = Eigen::Matrix3d::Zero ();
       getScatterMatrix (static_cast<int> (index), cov_m);
 
-      Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> solver (cov_m, Eigen::EigenvaluesOnly);
+      const Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> solver (cov_m, Eigen::EigenvaluesOnly);
 
       const double& e1c = solver.eigenvalues ()[2];
       const double& e2c = solver.eigenvalues ()[1];

sample_consensus/include/pcl/sample_consensus/impl/sac_model_ellipse3d.hpp

@@ -175,7 +175,7 @@ pcl::SampleConsensusModelEllipse3D<PointT>::computeModelCoefficients (const Indi
     .finished();
 
   // Calculate the eigenvalues and eigenvectors of matrix M
-  Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> solver_M(M, Eigen::EigenvaluesOnly);
+  const Eigen::SelfAdjointEigenSolver<Eigen::Matrix2f> solver_M(M, Eigen::EigenvaluesOnly);
 
   Eigen::Vector2f eigvals_M = solver_M.eigenvalues();
 

surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp

@@ -183,7 +183,7 @@ namespace pcl
       else{
         int c = std::numeric_limits<int>::lowest();
         for(int i=0;i<Cube::CORNERS;i++){
-          int d=children[i].maxDepth();
+          const int d=children[i].maxDepth();
           if(d>c){c=d;}
         }
         return c+1;

visualization/src/point_picking_event.cpp

@@ -66,7 +66,7 @@ pcl::visualization::PointPickingCallback::Execute (vtkObject *caller, unsigned l
     if ((eventid == vtkCommand::LeftButtonPressEvent) && (iren->GetShiftKey () > 0))
     {
       float x = 0, y = 0, z = 0;
-      auto idx = performSinglePick (iren, x, y, z);
+      const auto idx = performSinglePick (iren, x, y, z);
       // Create a PointPickingEvent if a point was selected
       if (idx != pcl::UNAVAILABLE)
       {