Improve code quality by fixing issues reported by Sonarqube

3rdparty/stb_image/stb_image_write.h

@@ -773,7 +773,7 @@ static int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, f
 #ifdef __STDC_LIB_EXT1__
       len = sprintf_s(buffer, sizeof(buffer), "EXPOSURE=          1.0000000000000\n\n-Y %d +X %d\n", y, x);
 #else
-      len = sprintf(buffer, "EXPOSURE=          1.0000000000000\n\n-Y %d +X %d\n", y, x);
+      len = snprintf(buffer, sizeof(buffer), "EXPOSURE=          1.0000000000000\n\n-Y %d +X %d\n", y, x);
 #endif
       s->func(s->context, buffer, len);
 

modules/core/include/visp3/core/vpCannyEdgeDetection.h

@@ -276,7 +276,7 @@ class VISP_EXPORT vpCannyEdgeDetection
   }
 
   /**
-   * \brief Set the minimum stack size, expressed in bytes, due to the recursivity of the algorithm.
+   * \brief Set the minimum stack size, expressed in bytes, due to the recursive algorithm.
    *
    * \note The stack size is changed back to its original value after
    * before leaving the detect() function.
@@ -299,7 +299,7 @@ class VISP_EXPORT vpCannyEdgeDetection
     (void)requiredStackSize;
     static bool hasNotBeenDisplayed = true;
     if (hasNotBeenDisplayed) {
-      std::cerr << "setStackSize has no effect on non-POSIX systems. The stack size is defined during compilation." << std::endl;
+      std::cerr << "vpCannyEdgeDetection::setStackSize() has no effect on non-POSIX systems. The stack size is defined during compilation." << std::endl;
       hasNotBeenDisplayed = false;
     }
   }

modules/core/include/visp3/core/vpEigenConversion.h

@@ -57,7 +57,8 @@ void eigen2visp(const Eigen::Quaternion<Type> &src, vpQuaternionVector &dst)
 template <typename Type>
 void eigen2visp(const Eigen::AngleAxis<Type> &src, vpThetaUVector &dst)
 {
-  dst.buildFrom(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(2));
+  const unsigned int val_2 = 2;
+  dst.buildFrom(src.angle() * src.axis()(0), src.angle() * src.axis()(1), src.angle() * src.axis()(val_2));
 }
 
 VISP_EXPORT void eigen2visp(const Eigen::VectorXd &src, vpColVector &dst);

modules/core/include/visp3/core/vpForceTwistMatrix.h

@@ -230,6 +230,8 @@ class VISP_EXPORT vpForceTwistMatrix : public vpArray2D<double>
     throw(vpException(vpException::fatalError, "Cannot resize a velocity twist matrix"));
   }
 
+private:
+  static const unsigned int constr_value_6;
 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
   /*!
     @name Deprecated functions

modules/core/include/visp3/core/vpGaussRand.h

@@ -31,8 +31,8 @@
  * Generation of random number with uniform and normal probability density.
  */
 
-#ifndef vpGaussRand_hh
-#define vpGaussRand_hh
+#ifndef VP_GAUSSRAND_H
+#define VP_GAUSSRAND_H
 
 #include <visp3/core/vpConfig.h>
 #include <visp3/core/vpUniRand.h>
@@ -149,12 +149,15 @@ class VISP_EXPORT vpGaussRand
 
       \param seed_val : New seed.
     */
-  void seed(long seed_val) { m_rng.setSeed(seed_val, 0x123465789ULL); }
+  void seed(long seed_val) {
+    const unsigned long long val_ull = 0x123465789ULL;
+    m_rng.setSeed(seed_val, val_ull);
+  }
 
   /*!
       Return a random value from the Gaussian noise generator.
     */
-  double operator()() { return m_sigma * gaussianDraw() + m_mean; }
+  double operator()() { return (m_sigma * gaussianDraw()) + m_mean; }
 
 private:
   double gaussianDraw();

modules/core/include/visp3/core/vpHistogram.h

@@ -314,6 +314,7 @@ class VISP_EXPORT vpHistogram
   unsigned m_size; /*!< Histogram size (max allowed 256).*/
   const vpImage<bool> *mp_mask; /*!< Mask that permits to consider only the pixels for which the mask is true.*/
   unsigned int m_total; /*!< Cumulated number of pixels in the input image. */
+  static const unsigned int constr_val_256;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpHomogeneousMatrix.h

@@ -434,6 +434,8 @@ class VISP_EXPORT vpHomogeneousMatrix : public vpArray2D<double>
 
 protected:
   unsigned int m_index;
+private:
+  static const unsigned int constr_value_4;
 };
 
 #ifdef VISP_HAVE_NLOHMANN_JSON

modules/core/include/visp3/core/vpImage.h

@@ -330,6 +330,8 @@ template <class Type> class vpImage
   friend std::ostream &operator<<(std::ostream &s, const vpImage<double> &I);
 
   // Perform a look-up table transformation
+  // static const unsigned int val_256 = 256;
+  // void performLut(const Type(&lut)[val_256], unsigned int nbThreads = 1); // Doesn't pass CI
   void performLut(const Type(&lut)[256], unsigned int nbThreads = 1);
 
   // Returns a new image that's a quarter size of the current image

modules/core/include/visp3/core/vpPoseVector.h

@@ -316,6 +316,8 @@ class VISP_EXPORT vpPoseVector : public vpArray2D<double>
 public:
 #endif
 
+private:
+  static const unsigned int constr_value_6;
 #if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
   /*!
     @name Deprecated functions

modules/core/include/visp3/core/vpQuaternionVector.h

@@ -156,6 +156,7 @@ class VISP_EXPORT vpQuaternionVector : public vpRotationVector
 
 private:
   static const double minimum;
+  static const unsigned int constr_val_4;
 
 };
 END_VISP_NAMESPACE

modules/core/include/visp3/core/vpRotationMatrix.h

@@ -228,6 +228,8 @@ class VISP_EXPORT vpRotationMatrix : public vpArray2D<double>
 
 protected:
   unsigned int m_index;
+private:
+  static const unsigned int constr_val_3;
 };
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS

modules/core/include/visp3/core/vpRxyzVector.h

@@ -210,6 +210,8 @@ class VISP_EXPORT vpRxyzVector : public vpRotationVector
   vpRxyzVector &operator=(const vpRxyzVector &) = default;
   vpRxyzVector &operator=(const std::initializer_list<double> &list);
 #endif
+private:
+  static const unsigned int constr_val_3;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpRzyxVector.h

@@ -211,6 +211,8 @@ class VISP_EXPORT vpRzyxVector : public vpRotationVector
   vpRzyxVector &operator=(const vpRzyxVector &) = default;
   vpRzyxVector &operator=(const std::initializer_list<double> &list);
 #endif
+private:
+  static const unsigned int constr_val_3;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpRzyzVector.h

@@ -210,6 +210,8 @@ class VISP_EXPORT vpRzyzVector : public vpRotationVector
   vpRzyzVector &operator=(const vpRzyzVector &) = default;
   vpRzyzVector &operator=(const std::initializer_list<double> &list);
 #endif
+private:
+  static const unsigned int constr_val_3;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpThetaUVector.h

@@ -225,6 +225,7 @@ class VISP_EXPORT vpThetaUVector : public vpRotationVector
 
 private:
   static const double minimum;
+  static const unsigned int constr_val_3;
 
 };
 END_VISP_NAMESPACE

modules/core/include/visp3/core/vpTranslationVector.h

@@ -206,6 +206,8 @@ class VISP_EXPORT vpTranslationVector : public vpArray2D<double>
 
 protected:
   unsigned int m_index; // index used for operator<< and operator, to fill a vector
+private:
+  static const unsigned int constr_val_3;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/include/visp3/core/vpVelocityTwistMatrix.h

@@ -244,6 +244,8 @@ class VISP_EXPORT vpVelocityTwistMatrix : public vpArray2D<double>
   VP_DEPRECATED void setIdentity();
 //@}
 #endif
+  private:
+    static const unsigned constr_val_6;
 };
 END_VISP_NAMESPACE
 #endif

modules/core/src/camera/vpCameraParameters.cpp

@@ -640,14 +640,16 @@ void vpCameraParameters::printParameters()
   std::ios::fmtflags original_flags(std::cout.flags());
   switch (m_projModel) {
   case vpCameraParameters::perspectiveProjWithoutDistortion: {
-    std::cout.precision(10);
+    const unsigned int precision = 10;
+    std::cout.precision(precision);
     std::cout << "Camera parameters for perspective projection without distortion:" << std::endl;
     std::cout << "  px = " << m_px << "\t py = " << m_py << std::endl;
     std::cout << "  u0 = " << m_u0 << "\t v0 = " << m_v0 << std::endl;
     break;
   }
   case vpCameraParameters::perspectiveProjWithDistortion: {
-    std::cout.precision(10);
+    const unsigned int precision = 10;
+    std::cout.precision(precision);
     std::cout << "Camera parameters for perspective projection with distortion:" << std::endl;
     std::cout << "  px = " << m_px << "\t py = " << m_py << std::endl;
     std::cout << "  u0 = " << m_u0 << "\t v0 = " << m_v0 << std::endl;

modules/core/src/camera/vpXmlParserCamera.cpp

@@ -472,7 +472,7 @@ class vpXmlParserCamera::Impl
     }
 
     if (!strcmp(model_type.c_str(), LABEL_XML_MODEL_WITHOUT_DISTORTION)) {
-      if (nb != 5 || validation != 0x001F) {
+      if ((nb != 5) || (validation != 0x001F)) {
         std::cout << "ERROR in 'model' field:\n";
         std::cout << "it must contain 5 parameters\n";
 
@@ -481,7 +481,7 @@ class vpXmlParserCamera::Impl
       cam_tmp.initPersProjWithoutDistortion(px, py, u0, v0);
     }
     else if (!strcmp(model_type.c_str(), LABEL_XML_MODEL_WITH_DISTORTION)) {
-      if (nb != 7 || validation != 0x7F) {
+      if ((nb != 7) || (validation != 0x7F)) {
         std::cout << "ERROR in 'model' field:\n";
         std::cout << "it must contain 7 parameters\n";
 
@@ -490,7 +490,7 @@ class vpXmlParserCamera::Impl
       cam_tmp.initPersProjWithDistortion(px, py, u0, v0, kud, kdu);
     }
     else if (!strcmp(model_type.c_str(), LABEL_XML_MODEL_WITH_KANNALA_BRANDT_DISTORTION)) {
-      if (nb != 10 || validation != 0x3FF) { // at least one coefficient is missing. We should know which one
+      if ((nb != 10) || (validation != 0x3FF)) { // at least one coefficient is missing. We should know which one
         std::cout << "ERROR in 'model' field:\n";
         std::cout << "it must contain 10 parameters\n";
 
@@ -807,7 +807,7 @@ class vpXmlParserCamera::Impl
         node_tmp.append_child(pugi::node_pcdata).set_value(cam_name.c_str());
       }
 
-      if (im_width != 0 || im_height != 0) {
+      if ((im_width != 0) || (im_height != 0)) {
         node_tmp = node_camera.append_child(pugi::node_comment);
         node_tmp.set_value("Size of the image on which camera "
                            "calibration was performed");
@@ -819,7 +819,7 @@ class vpXmlParserCamera::Impl
         //<image_height>
         node_tmp = node_camera.append_child(LABEL_XML_HEIGHT);
         node_tmp.append_child(pugi::node_pcdata).text() = im_height;
-        if (subsampling_width != 0 || subsampling_height != 0) {
+        if ((subsampling_width != 0) || (subsampling_height != 0)) {
           node_tmp = node_camera.append_child(pugi::node_comment);
           node_tmp.set_value("Subsampling used to obtain the "
                              "current size of the image.");

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

@@ -92,7 +92,8 @@ BEGIN_VISP_NAMESPACE
   }
 #endif
 
-  for (int i = 2; i < 0x10000; ++i) {
+  const unsigned int val_0x10000 = 0x10000;
+  for (unsigned int i = 2; i < val_0x10000; ++i) {
     histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
   }
   dest_depth.resize(src_depth.getHeight(), src_depth.getWidth());
@@ -149,7 +150,8 @@ void vp_createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<unsigne
   }
 #endif
 
-  for (int i = 2; i < 0x10000; ++i) {
+  const unsigned int val_0x10000 = 0x10000;
+  for (unsigned int i = 2; i < val_0x10000; ++i) {
     histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
   }
   dest_depth.resize(src_depth.getHeight(), src_depth.getWidth());
@@ -193,24 +195,29 @@ void vp_createDepthHistogram(const vpImage<float> &src_depth, vpImage<vpRGBa> &d
     }
   }
 
-  for (int i = 2; i < 0x10000; ++i) {
+  const unsigned int val_0x10000 = 0x10000;
+  for (unsigned int i = 2; i < val_0x10000; ++i) {
     histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
   }
+
+  const unsigned char val_uc_5 = 5;
+  const unsigned char val_uc_20 = 20;
+  const unsigned char val_uc_255 = 255;
 #ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
 #endif
   for (int i = 0; i < src_depth_size; ++i) {
     uint16_t d = static_cast<uint16_t>(src_depth.bitmap[i]);
     if (d) {
       unsigned char f = static_cast<unsigned char>((histogram[d] * 255) / histogram[0xFFFF]); // 0-255 based on histogram location
-      dest_depth.bitmap[i].R = 255 - f;
+      dest_depth.bitmap[i].R = val_uc_255 - f;
       dest_depth.bitmap[i].G = 0;
       dest_depth.bitmap[i].B = f;
       dest_depth.bitmap[i].A = vpRGBa::alpha_default;
     }
     else {
-      dest_depth.bitmap[i].R = 20;
-      dest_depth.bitmap[i].G = 5;
+      dest_depth.bitmap[i].R = val_uc_20;
+      dest_depth.bitmap[i].G = val_uc_5;
       dest_depth.bitmap[i].B = 0;
       dest_depth.bitmap[i].A = vpRGBa::alpha_default;
     }
@@ -237,26 +244,29 @@ void vp_createDepthHistogram(const vpImage<uint16_t> &src_depth, vpImage<vpRGBa>
     ++histogram[static_cast<uint32_t>(src_depth.bitmap[i])];
   }
 
-  for (unsigned int i = 2; i < 0x10000; ++i) {
+  const unsigned int val_0x10000 = 0x10000;
+  for (unsigned int i = 2; i < val_0x10000; ++i) {
     histogram[i] += histogram[i - 1]; // Build a cumulative histogram for the indices in [1,0xFFFF]
   }
 
+  const unsigned char val_uc_5 = 5;
+  const unsigned char val_uc_20 = 20;
+  const unsigned char val_uc_255 = 255;
 #ifdef VISP_HAVE_OPENMP
 #pragma omp parallel for
 #endif
-
   for (int i = 0; i < src_depth_size; ++i) {
     uint16_t d = src_depth.bitmap[i];
     if (d) {
       unsigned char f = static_cast<unsigned char>((histogram[d] * 255) / histogram[0xFFFF]); // 0-255 based on histogram location
-      dest_depth.bitmap[i].R = 255 - f;
+      dest_depth.bitmap[i].R = val_uc_255 - f;
       dest_depth.bitmap[i].G = 0;
       dest_depth.bitmap[i].B = f;
       dest_depth.bitmap[i].A = vpRGBa::alpha_default;
     }
     else {
-      dest_depth.bitmap[i].R = 20;
-      dest_depth.bitmap[i].G = 5;
+      dest_depth.bitmap[i].R = val_uc_20;
+      dest_depth.bitmap[i].G = val_uc_5;
       dest_depth.bitmap[i].B = 0;
       dest_depth.bitmap[i].A = vpRGBa::alpha_default;
     }