More sonarqube fixes

modules/core/include/visp3/core/vpImageTools.h

@@ -1105,17 +1105,14 @@ void vpImageTools::resize(const vpImage<Type> &I, vpImage<Type> &Ires, const vpI
   const float scaleY = I.getHeight() / static_cast<float>(Ires.getHeight());
   const float scaleX = I.getWidth() / static_cast<float>(Ires.getWidth());
   const float half = 0.5f;
-
+  const int ires_height = static_cast<int>(Ires.getHeight());
 #if defined(_OPENMP)
   if (nThreads > 0) {
     omp_set_num_threads(static_cast<int>(nThreads));
   }
 #pragma omp parallel for schedule(dynamic)
 #endif
-  /*
-  // int ires_height = static_cast<int>(Ires.getHeight());
-  */
-  for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
+  for (int i = 0; i < ires_height; ++i) {
     const float v = ((i + half) * scaleY) - half;
     const float v0 = std::floor(v);
     const float yFrac = v - v0;
@@ -1164,17 +1161,14 @@ inline void vpImageTools::resize(const vpImage<unsigned char> &I, vpImage<unsign
     const float scaleY = I.getHeight() / static_cast<float>(Ires.getHeight());
     const float scaleX = I.getWidth() / static_cast<float>(Ires.getWidth());
     const float half = 0.5f;
-
+    const int ires_height = static_cast<int>(Ires.getHeight());
 #if defined(_OPENMP)
     if (nThreads > 0) {
       omp_set_num_threads(static_cast<int>(nThreads));
     }
 #pragma omp parallel for schedule(dynamic)
 #endif
-    /*
-    // int ires_height = static_cast<int>(Ires.getHeight());
-    */
-    for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
+    for (int i = 0; i < ires_height; ++i) {
       float v = ((i + half) * scaleY) - half;
       float yFrac = v - static_cast<int>(v);
 
@@ -1218,17 +1212,14 @@ inline void vpImageTools::resize(const vpImage<vpRGBa> &I, vpImage<vpRGBa> &Ires
     const float scaleY = I.getHeight() / static_cast<float>(Ires.getHeight());
     const float scaleX = I.getWidth() / static_cast<float>(Ires.getWidth());
     const float half = 0.5f;
-
+    const int ires_height = static_cast<int>(Ires.getHeight());
 #if defined(_OPENMP)
     if (nThreads > 0) {
       omp_set_num_threads(static_cast<int>(nThreads));
     }
 #pragma omp parallel for schedule(dynamic)
 #endif
-    /*
-    // int ires_height = static_cast<int>(Ires.getHeight());
-    */
-    for (int i = 0; i < static_cast<int>(Ires.getHeight()); ++i) {
+    for (int i = 0; i < ires_height; ++i) {
       float v = (i + half) * scaleY - half;
       float yFrac = v - static_cast<int>(v);
 

modules/core/src/camera/vpCameraParameters.cpp

@@ -497,8 +497,11 @@ bool vpCameraParameters::operator==(const vpCameraParameters &c) const
   }
 
   std::vector<vpColVector>::const_iterator it1 = m_fovNormals.begin();
+  std::vector<vpColVector>::const_iterator it1_end = m_fovNormals.end();
   std::vector<vpColVector>::const_iterator it2 = c.m_fovNormals.begin();
-  for (; (it1 != m_fovNormals.end()) && (it2 != c.m_fovNormals.end()); ++it1, ++it2) {
+  std::vector<vpColVector>::const_iterator it2_end = c.m_fovNormals.end();
+
+  for (; (it1 != it1_end) && (it2 != it2_end); ++it1, ++it2) {
     if (*it1 != *it2) {
       return false;
     }

modules/core/src/camera/vpXmlParserCamera.cpp

@@ -1138,7 +1138,6 @@ class vpXmlParserCamera::Impl
     node_tmp = node_model.append_child(LABEL_XML_V0);
     node_tmp.append_child(pugi::node_pcdata).text() = camera.get_v0();
 
-    //<k1>, <k2>, <k3>, <k4>, <k5>
     std::vector<double> distortion_coefs = camera.getKannalaBrandtDistortionCoefficients();
 
     if (distortion_coefs.size() != requiredNbCoeff) {

modules/core/src/display/vpDisplay_impl.h

@@ -450,13 +450,14 @@ void vp_display_display_polygon(const vpImage<Type> &I, const std::vector<vpImag
                                 unsigned int thickness, bool closed = true)
 {
   if (I.display != nullptr) {
+    const size_t vip_size = vip.size();
     if (closed) {
-      for (unsigned int i = 0; i < vip.size(); ++i) {
+      for (unsigned int i = 0; i < vip_size; ++i) {
         (I.display)->displayLine(vip[i], vip[(i + 1) % vip.size()], color, thickness);
       }
     }
     else {
-      for (unsigned int i = 1; i < vip.size(); ++i) {
+      for (unsigned int i = 1; i < vip_size; ++i) {
         (I.display)->displayLine(vip[i - 1], vip[i], color, thickness);
       }
     }

modules/core/src/display/vpDisplay_uchar.cpp

@@ -286,9 +286,10 @@ void vpDisplay::displayDotLine(const vpImage<unsigned char> &I, const std::list<
   }
 
   std::list<vpImagePoint>::const_iterator it = ips.begin();
+  std::list<vpImagePoint>::const_iterator it_end = ips.end();
 
   vpImagePoint ip_prev = *(++it);
-  for (; it != ips.end(); ++it) {
+  for (; it != it_end; ++it) {
     if (vpImagePoint::distance(ip_prev, *it) > 1) {
       vp_display_display_dot_line(I, ip_prev, *it, color, thickness);
       ip_prev = *it;
@@ -541,9 +542,10 @@ void vpDisplay::displayLine(const vpImage<unsigned char> &I, const std::list<vpI
   }
 
   std::list<vpImagePoint>::const_iterator it = ips.begin();
+  std::list<vpImagePoint>::const_iterator it_end = ips.end();
 
   vpImagePoint ip_prev = *(++it);
-  for (; it != ips.end(); ++it) {
+  for (; it != it_end; ++it) {
     if (vpImagePoint::distance(ip_prev, *it) > 1) {
       vp_display_display_line(I, ip_prev, *it, color, thickness);
       ip_prev = *it;

modules/core/src/image/private/vpImageConvert_impl.h

@@ -123,7 +123,7 @@ void vp_createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<unsigne
 {
   uint32_t histogram[0x10000];
   memset(histogram, 0, sizeof(histogram));
-  int src_depth_size = static_cast<int>(src_depth.getSize());
+  const int src_depth_size = static_cast<int>(src_depth.getSize());
 
 #if defined(VISP_HAVE_OPENMP) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
   int nThreads = omp_get_max_threads();
@@ -144,7 +144,7 @@ void vp_createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<unsigne
     }
   }
 #else
-  for (int i = 0; i < static_cast<int>(src_depth.getSize()); ++i) {
+  for (int i = 0; i < src_depth_size; ++i) {
     ++histogram[static_cast<uint32_t>(src_depth.bitmap[i])];
   }
 #endif

modules/core/src/image/vpImageTools.cpp

@@ -895,11 +895,12 @@ void vpImageTools::remap(const vpImage<unsigned char> &I, const vpArray2D<int> &
                          const vpArray2D<float> &mapDu, const vpArray2D<float> &mapDv, vpImage<unsigned char> &Iundist)
 {
   Iundist.resize(I.getHeight(), I.getWidth());
+  const int I_height = static_cast<int>(I.getHeight());
 
 #if defined(_OPENMP) // only to disable warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
 #pragma omp parallel for schedule(dynamic)
 #endif
-  for (int i_ = 0; i_ < static_cast<int>(I.getHeight()); ++i_) {
+  for (int i_ = 0; i_ < I_height; ++i_) {
     const unsigned int i = static_cast<unsigned int>(i_);
     unsigned int i_width = I.getWidth();
     for (unsigned int j = 0; j < i_width; ++j) {
@@ -911,7 +912,7 @@ void vpImageTools::remap(const vpImage<unsigned char> &I, const vpArray2D<int> &
       float dv = mapDv[i][j];
 
       if ((0 <= u_round) && (0 <= v_round) && (u_round < (static_cast<int>(I.getWidth()) - 1)) &&
-          (v_round < (static_cast<int>(I.getHeight()) - 1))) {
+          (v_round < (I_height - 1))) {
         // process interpolation
         float col0 = lerp(I[v_round][u_round], I[v_round][u_round + 1], du);
         float col1 = lerp(I[v_round + 1][u_round], I[v_round + 1][u_round + 1], du);
@@ -940,11 +941,11 @@ void vpImageTools::remap(const vpImage<vpRGBa> &I, const vpArray2D<int> &mapU, c
                          const vpArray2D<float> &mapDu, const vpArray2D<float> &mapDv, vpImage<vpRGBa> &Iundist)
 {
   Iundist.resize(I.getHeight(), I.getWidth());
-
+  const int I_height = static_cast<int>(I.getHeight());
 #if defined(_OPENMP) // only to disable warning: ignoring #pragma omp parallel [-Wunknown-pragmas]
 #pragma omp parallel for schedule(dynamic)
 #endif
-  for (int i = 0; i < static_cast<int>(I.getHeight()); ++i) {
+  for (int i = 0; i < I_height; ++i) {
 #if defined(VISP_HAVE_SIMDLIB)
     SimdRemap(reinterpret_cast<unsigned char *>(I.bitmap), 4, I.getWidth(), I.getHeight(), i * I.getWidth(), mapU.data,
               mapV.data, mapDu.data, mapDv.data, reinterpret_cast<unsigned char *>(Iundist.bitmap));
@@ -960,7 +961,7 @@ void vpImageTools::remap(const vpImage<vpRGBa> &I, const vpArray2D<int> &mapU, c
       float dv = mapDv[i_][j];
 
       if ((0 <= u_round) && (0 <= v_round) && (u_round < (static_cast<int>(I.getWidth()) - 1))
-          && (v_round < (static_cast<int>(I.getHeight()) - 1))) {
+          && (v_round < (I_height - 1))) {
         // process interpolation
         float col0 = lerp(I[v_round][u_round].R, I[v_round][u_round + 1].R, du);
         float col1 = lerp(I[v_round + 1][u_round].R, I[v_round + 1][u_round + 1].R, du);

modules/core/src/math/matrix/vpMatrix.cpp

@@ -1455,7 +1455,8 @@ unsigned int vpMatrix::kernel(vpMatrix &kerAt, double svThreshold) const
 
   kerAt.resize(nbcol - rank, nbcol);
   if (rank != nbcol) {
-    for (unsigned int j = 0, k = 0; j < nbcol; ++j) {
+    unsigned int k = 0;
+    for (unsigned int j = 0; j < nbcol; ++j) {
       // if( v.col(j) in kernel and non zero )
       if ((sv[j] <= (maxsv * svThreshold)) &&
           (std::fabs(V.getCol(j).sumSquare()) > std::numeric_limits<double>::epsilon())) {
@@ -1524,7 +1525,8 @@ unsigned int vpMatrix::nullSpace(vpMatrix &kerA, double svThreshold) const
 
   kerA.resize(nbcol, nbcol - rank);
   if (rank != nbcol) {
-    for (unsigned int j = 0, k = 0; j < nbcol; ++j) {
+    unsigned int k = 0;
+    for (unsigned int j = 0; j < nbcol; ++j) {
       // if( v.col(j) in kernel and non zero )
       if (sv[j] <= (maxsv * svThreshold)) {
         for (unsigned int i = 0; i < nbcol; ++i) {

modules/core/src/tools/cpu-features/vpCPUFeatures.cpp

@@ -43,7 +43,7 @@ BEGIN_VISP_NAMESPACE
 namespace vpCPUFeatures
 {
 // TODO: try to refactor to keep only SimdCpuInfo code and remove cpu_x86 code?
-static const FeatureDetector::cpu_x86 cpu_features;
+static const FeatureDetector::cpuX86 cpu_features;
 
 bool checkSSE2() { return cpu_features.HW_SSE2; }
 

modules/core/src/tools/cpu-features/x86/cpu_x86.cpp

@@ -80,7 +80,7 @@ using std::memset;
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
-void cpu_x86::print(const char *label, bool yes)
+void cpuX86::print(const char *label, bool yes)
 {
   cout << label;
   cout << (yes ? "Yes" : "No") << endl;
@@ -89,12 +89,12 @@ void cpu_x86::print(const char *label, bool yes)
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
-cpu_x86::cpu_x86()
+cpuX86::cpuX86()
 {
   memset(this, 0, sizeof(*this));
   detect_host();
 }
-bool cpu_x86::detect_OS_AVX()
+bool cpuX86::detect_OS_AVX()
 {
 #ifndef UNKNOWN_ARCH
   //  Copied from: http://stackoverflow.com/a/22521619/922184
@@ -120,7 +120,7 @@ bool cpu_x86::detect_OS_AVX()
   return false;
 #endif
 }
-bool cpu_x86::detect_OS_AVX512()
+bool cpuX86::detect_OS_AVX512()
 {
 #ifndef UNKNOWN_ARCH
   if (!detect_OS_AVX()) {
@@ -133,7 +133,7 @@ bool cpu_x86::detect_OS_AVX512()
   return false;
 #endif
 }
-std::string cpu_x86::get_vendor_string()
+std::string cpuX86::get_vendor_string()
 {
 #ifndef UNKNOWN_ARCH
   uint32_t CPUInfo[4];
@@ -158,7 +158,7 @@ std::string cpu_x86::get_vendor_string()
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
-void cpu_x86::detect_host()
+void cpuX86::detect_host()
 {
 #ifndef UNKNOWN_ARCH
   //  OS Features
@@ -256,7 +256,7 @@ void cpu_x86::detect_host()
   }
 #endif
 }
-void cpu_x86::print() const
+void cpuX86::print() const
 {
   cout << "CPU Vendor:" << endl;
   print("    AMD         = ", Vendor_AMD);

modules/core/src/tools/cpu-features/x86/cpu_x86.h

@@ -53,9 +53,9 @@ namespace FeatureDetector
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
-struct cpu_x86
+struct cpuX86
 {
-//  Vendor
+  //  Vendor
   bool Vendor_AMD;
   bool Vendor_Intel;
 
@@ -105,7 +105,7 @@ struct cpu_x86
   bool HW_AVX512_VBMI;
 
 public:
-  cpu_x86();
+  cpuX86();
 
   void print() const;
 

modules/core/src/tools/cpu-features/x86/cpu_x86_Linux.ipp

@@ -1,9 +1,9 @@
 /* cpu_x86_Linux.ipp
- * 
+ *
  * Author           : Alexander J. Yee
  * Date Created     : 04/12/2014
  * Last Modified    : 04/12/2014
- * 
+ *
  */
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -13,26 +13,34 @@
 //  Dependencies
 #include <cpuid.h>
 #include "cpu_x86.h"
-namespace FeatureDetector{
+namespace FeatureDetector
+{
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
-void cpu_x86::cpuid(uint32_t out[4], uint32_t x){
-    __cpuid_count(x, 0, out[0], out[1], out[2], out[3]);
+void cpuX86::cpuid(uint32_t out[4], uint32_t x)
+{
+  const unsigned int index_0 = 0;
+  const unsigned int index_1 = 1;
+  const unsigned int index_2 = 2;
+  const unsigned int index_3 = 3;
+  __cpuid_count(x, 0, out[index_0], out[index_1], out[index_2], out[index_3]);
 }
-uint64_t xgetbv(unsigned int index){
-    uint32_t eax, edx;
-    __asm__ __volatile__("xgetbv" : "=a"(eax), "=d"(edx) : "c"(index));
-    return ((uint64_t)edx << 32) | eax;
+uint64_t xgetbv(unsigned int index)
+{
+  uint32_t eax, edx;
+  __asm__ __volatile__("xgetbv" : "=a"(eax), "=d"(edx) : "c"(index));
+  return ((uint64_t)edx << 32) | eax;
 }
 #define _XCR_XFEATURE_ENABLED_MASK  0
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 //  Detect 64-bit
-bool cpu_x86::detect_OS_x64(){
-    //  We only support x64 on Linux.
-    return true;
+bool cpuX86::detect_OS_x64()
+{
+//  We only support x64 on Linux.
+  return true;
 }
 ////////////////////////////////////////////////////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////