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Fix uninitialized build warnings #6283

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Merged
larshg merged 3 commits into from
May 31, 2025
Merged

Fix uninitialized build warnings #6283

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535e626
Fix some build warnings
May 21, 2025
f484baa
clang format
May 30, 2025
5e11394
Add PCL_ERROR message if the SVD fails
May 31, 2025
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2 changes: 1 addition & 1 deletion io/include/pcl/io/impl/vtk_lib_io.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,7 +122,7 @@ pcl::io::vtkPolyDataToPointCloud (vtkPolyData* const polydata, pcl::PointCloud<P
{
for (std::size_t i = 0; i < cloud.size (); ++i)
{
float normal[3];
float normal[3] = {0.0f, 0.0f, 0.0f};
normals->GetTupleValue (i, normal);
pcl::setFieldValue<PointT, float> (cloud[i], normal_x_idx, normal[0]);
pcl::setFieldValue<PointT, float> (cloud[i], normal_y_idx, normal[1]);
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3 changes: 2 additions & 1 deletion recognition/src/ransac_based/obj_rec_ransac.cpp
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Expand Up @@ -296,7 +296,8 @@ pcl::recognition::ObjRecRANSAC::groupHypotheses(std::list<HypothesisBase>& hypot
#endif

// Compute the bounds for the positional discretization
float b[6]; scene_octree_.getBounds (b);
float b[6] = {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
scene_octree_.getBounds (b);
float enlr = scene_bounds_enlargement_factor_*std::max (std::max (b[1]-b[0], b[3]-b[2]), b[5]-b[4]);
b[0] -= enlr; b[1] += enlr;
b[2] -= enlr; b[3] += enlr;
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9 changes: 9 additions & 0 deletions registration/include/pcl/registration/impl/ndt.hpp
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Expand Up @@ -121,6 +121,15 @@ NormalDistributionsTransform<PointSource, PointTarget, Scalar>::computeTransform
// 2009]
Eigen::JacobiSVD<Eigen::Matrix<double, 6, 6>> sv(
hessian, Eigen::ComputeFullU | Eigen::ComputeFullV);
#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
if (sv.info() != Eigen::ComputationInfo::Success) {
trans_likelihood_ = score / static_cast<double>(input_->size());
converged_ = 0;
PCL_ERROR("[%s::computeTransformation] JacobiSVD on hessian failed!\n",
getClassName().c_str());
return;
}
#endif
// Negative for maximization as opposed to minimization
Eigen::Matrix<double, 6, 1> delta = sv.solve(-score_gradient);

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