Wrap static member variables in a getter method.

Author: larshg

octree/CMakeLists.txt

@@ -12,7 +12,6 @@ if(NOT build)
 endif()
 
 set(srcs
-  src/octree_key.cpp
   src/octree_inst.cpp
 )
 

octree/include/pcl/octree/impl/octree2buf_base.hpp

@@ -73,7 +73,7 @@ Octree2BufBase<LeafContainerT, BranchContainerT>::setMaxVoxelIndex(
 
   // tree depth == amount of bits of maxVoxels
   treeDepth =
-      std::max<uindex_t>(std::min<uindex_t>(OctreeKey::maxDepth,
+      std::max<uindex_t>(std::min<uindex_t>(OctreeKey::getMaxDepth(),
                                             std::ceil(std::log2(max_voxel_index_arg))),
                          0);
 

octree/include/pcl/octree/impl/octree_base.hpp

@@ -78,7 +78,7 @@ OctreeBase<LeafContainerT, BranchContainerT>::setMaxVoxelIndex(
 
   // tree depth == bitlength of maxVoxels
   tree_depth =
-      std::min(static_cast<uindex_t>(OctreeKey::maxDepth),
+      std::min(static_cast<uindex_t>(OctreeKey::getMaxDepth()),
                static_cast<uindex_t>(std::ceil(std::log2(max_voxel_index_arg))));
 
   setTreeDepth(tree_depth);
@@ -94,11 +94,11 @@ OctreeBase<LeafContainerT, BranchContainerT>::setTreeDepth(uindex_t depth_arg)
               depth_arg);
     return;
   }
-  if (depth_arg > OctreeKey::maxDepth) {
+  if (depth_arg > OctreeKey::getMaxDepth()) {
     PCL_ERROR("[pcl::octree::OctreeBase::setTreeDepth] Tree depth (%lu) must be <= max "
               "depth(%lu)!\n",
               depth_arg,
-              OctreeKey::maxDepth);
+              OctreeKey::getMaxDepth());
     return;
   }
 

octree/include/pcl/octree/impl/octree_pointcloud.hpp

@@ -713,7 +713,7 @@ pcl::octree::OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
 
   // tree depth == amount of bits of max_voxels
   this->octree_depth_ = std::max<uindex_t>(
-      std::min<uindex_t>(OctreeKey::maxDepth,
+      std::min<uindex_t>(OctreeKey::getMaxDepth(),
                          std::ceil(std::log2(max_voxels) - minValue)),
       0);
 

octree/include/pcl/octree/octree_key.h

@@ -138,8 +138,14 @@ class OctreeKey {
                                       (!!(this->z & depthMask)));
   }
 
-  /* \brief maximum depth that can be addressed */
-  static const unsigned char maxDepth;
+  static unsigned char
+  getMaxDepth()
+  {
+    /* \brief maximum depth that can be addressed */
+    static const unsigned char maxDepth{
+        static_cast<unsigned char>(sizeof(uindex_t) * 8)};
+    return maxDepth;
+  }
 
   // Indices addressing a voxel at (X, Y, Z)
   // NOLINTBEGIN(modernize-use-default-member-init)

octree/src/octree_key.cpp

@@ -186,7 +186,7 @@ namespace pcl
 
         // Get a second point which is different than the first
         samples.resize (getSampleSize ());
-        for (unsigned int iter = 0; iter < max_sample_checks_; ++iter)
+        for (unsigned int iter = 0; iter < getMaxSampleSize(); ++iter)
         {
           // Choose the random indices
           if (samples_radius_ < std::numeric_limits<double>::epsilon ())
@@ -201,7 +201,10 @@ namespace pcl
             return;
           }
         }
-        PCL_DEBUG ("[pcl::SampleConsensusModel::getSamples] WARNING: Could not select %d sample points in %d iterations!\n", getSampleSize (), max_sample_checks_);
+        PCL_DEBUG("[pcl::SampleConsensusModel::getSamples] WARNING: Could not select "
+                  "%d sample points in %d iterations!\n",
+                  getSampleSize(),
+                  getMaxSampleSize());
         samples.clear ();
       }
 
@@ -359,6 +362,14 @@ namespace pcl
         return sample_size_;
       }
 
+      static unsigned int
+      getMaxSampleSize()
+      {
+        /** The maximum number of samples to try until we get a good one */
+        static const unsigned int max_sample_checks_ = 1000;
+        return max_sample_checks_;
+      }
+
       /** \brief Return the number of coefficients in the model. */
       inline unsigned int
       getModelSize () const
@@ -556,9 +567,6 @@ namespace pcl
       /** \brief A pointer to the vector of point indices to use. */
       IndicesPtr indices_;
 
-      /** The maximum number of samples to try until we get a good one */
-      static const unsigned int max_sample_checks_ = 1000;
-
       /** \brief The minimum and maximum radius limits for the model.
         * Applicable to all models that estimate a radius. 
         */