Removing redundant non null check before deleting a ptr in destructors #301

corelib/src/CameraRGB.cpp

@@ -120,14 +120,8 @@ CameraImages::CameraImages(const std::string & path,
 CameraImages::~CameraImages()
 {
 	UDEBUG("");
-	if(_dir)
+	delete _dir;
-	{
+	delete _scanDir;
-		delete _dir;
-	}
-	if(_scanDir)
-	{
-		delete _scanDir;
-	}
 }
 
 bool CameraImages::init(const std::string & calibrationFolder, const std::string & cameraName)

corelib/src/CameraRGBD.cpp

@@ -1422,21 +1422,9 @@ CameraFreenect2::~CameraFreenect2()
 		dev_->close();
 		//deleted in freenect2_ destructor (Freeenect2Impl::clearDevices())
 	}
-	if(listener_)
+	delete listener_;
-	{
+	delete reg_;
-		delete listener_;
+	delete freenect2_;
-	}
-
-	if(reg_)
-	{
-		delete reg_;
-		reg_ = 0;
-	}
-
-	if(freenect2_)
-	{
-		delete freenect2_;
-	}
 	UDEBUG("");
 #endif
 }

corelib/src/CameraStereo.cpp

@@ -361,10 +361,7 @@ CameraStereoDC1394::CameraStereoDC1394(float imageRate, const Transform & localT
 CameraStereoDC1394::~CameraStereoDC1394()
 {
 #ifdef RTABMAP_DC1394
-	if(device_)
+	delete device_;
-	{
-		delete device_;
-	}
 #endif
 }
 
@@ -829,10 +826,7 @@ CameraStereoZed::CameraStereoZed(
 CameraStereoZed::~CameraStereoZed()
 {
 #ifdef RTABMAP_ZED
-	if(zed_)
+	delete zed_;
-	{
-		delete zed_;
-	}
 #endif
 }
 
@@ -1150,10 +1144,7 @@ CameraStereoImages::CameraStereoImages(
 CameraStereoImages::~CameraStereoImages()
 {
 	UDEBUG("");
-	if(camera2_)
+	delete camera2_;
-	{
-		delete camera2_;
-	}
 	UDEBUG("");
 }
 

corelib/src/CameraThread.cpp

@@ -73,14 +73,8 @@ CameraThread::~CameraThread()
 {
 	UDEBUG("");
 	join(true);
-	if(_camera)
+	delete _camera;
-	{
+	delete _distortionModel;
-		delete _camera;
-	}
-	if(_distortionModel)
-	{
-		delete _distortionModel;
-	}
 	delete _stereoDense;
 }
 

corelib/src/Memory.cpp

@@ -430,26 +430,11 @@ Memory::~Memory()
 	{
 		UWARN("Please call Memory::close() before");
 	}
-	if(_feature2D)
+	delete _feature2D;
-	{
+	delete _vwd;
-		delete _feature2D;
+	delete _registrationPipeline;
-	}
+	delete _registrationIcpMulti;
-	if(_vwd)
+	delete _occupancy;
-	{
-		delete _vwd;
-	}
-	if(_registrationPipeline)
-	{
-		delete _registrationPipeline;
-	}
-	if(_registrationIcpMulti)
-	{
-		delete _registrationIcpMulti;
-	}
-	if(_occupancy)
-	{
-		delete _occupancy;
-	}
 }
 
 void Memory::parseParameters(const ParametersMap & parameters)

corelib/src/OdometryDVO.cpp

@@ -55,18 +55,9 @@ OdometryDVO::OdometryDVO(const ParametersMap & parameters) :
 OdometryDVO::~OdometryDVO()
 {
 #ifdef RTABMAP_DVO
-	if(dvo_)
+	delete dvo_;
-	{
+	delete reference_;
-		delete dvo_;
+	delete camera_;
-	}
-	if(reference_)
-	{
-		delete reference_;
-	}
-	if(camera_)
-	{
-		delete camera_;
-	}
 #endif
 }
 

corelib/src/OdometryF2M.cpp

@@ -147,10 +147,7 @@ OdometryF2M::~OdometryF2M()
 	bundleLinks_.clear();
 	bundleModels_.clear();
 	bundlePoseReferences_.clear();
-	if(sba_)
+	delete sba_;
-	{
-		delete sba_;
-	}
 	delete regPipeline_;
 	UDEBUG("");
 }

corelib/src/OdometryFovis.cpp

@@ -60,26 +60,11 @@ OdometryFovis::OdometryFovis(const ParametersMap & parameters) :
 OdometryFovis::~OdometryFovis()
 {
 #ifdef RTABMAP_FOVIS
-	if(fovis_)
+	delete fovis_;
-	{
+	delete rect_;
-		delete fovis_;
+	delete stereoCalib_;
-	}
+	delete depthImage_;
-	if(rect_)
+	delete stereoDepth_;
-	{
-		delete rect_;
-	}
-	if(stereoCalib_)
-	{
-		delete stereoCalib_;
-	}
-	if(depthImage_)
-	{
-		delete depthImage_;
-	}
-	if(stereoDepth_)
-	{
-		delete stereoDepth_;
-	}
 #endif
 }
 

corelib/src/OdometryMSCKF.cpp

@@ -758,14 +758,8 @@ OdometryMSCKF::~OdometryMSCKF()
 {
 	UDEBUG("");
 #ifdef RTABMAP_MSCKF_VIO
-	if(imageProcessor_)
+	delete imageProcessor_;
-	{
+	delete msckf_;
-		delete imageProcessor_;
-	}
-	if(msckf_)
-	{
-		delete msckf_;
-	}
 #endif
 }
 

corelib/src/OdometryORBSLAM2.cpp

@@ -737,10 +737,7 @@ public:
 	virtual ~ORBSLAM2System()
 	{
 		shutdown();
-		if(mpVocabulary)
+		delete mpVocabulary;
-		{
-			delete mpVocabulary;
-		}
 	}
 
 	void shutdown()

corelib/src/OdometryOkvis.cpp

@@ -150,10 +150,7 @@ OdometryOkvis::~OdometryOkvis()
 {
 	UDEBUG("");
 #ifdef RTABMAP_OKVIS
-	if(okvisEstimator_)
+	delete okvisEstimator_;
-	{
-		delete okvisEstimator_;
-	}
 	delete okvisCallbackHandler_;
 #endif
 }

corelib/src/OdometryThread.cpp

@@ -51,10 +51,7 @@ OdometryThread::~OdometryThread()
 {
 	this->unregisterFromEventsManager();
 	this->join(true);
-	if(_odometry)
+	delete _odometry;
-	{
-		delete _odometry;
-	}
 	UDEBUG("");
 }
 

corelib/src/OdometryViso2.cpp

@@ -71,10 +71,7 @@ OdometryViso2::OdometryViso2(const ParametersMap & parameters) :
 OdometryViso2::~OdometryViso2()
 {
 #ifdef RTABMAP_VISO2
-	if(viso2_)
+	delete viso2_;
-	{
-		delete viso2_;
-	}
 #endif
 }
 

corelib/src/Registration.cpp

@@ -73,10 +73,7 @@ Registration::Registration(const ParametersMap & parameters, Registration * chil
 
 Registration::~Registration()
 {
-	if(child_)
+	delete child_;
-	{
-		delete child_;
-	}
 }
 void Registration::parseParameters(const ParametersMap & parameters)
 {

corelib/src/RegistrationIcp.cpp

@@ -389,10 +389,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
 RegistrationIcp::~RegistrationIcp()
 {
 #ifdef RTABMAP_POINTMATCHER
-	if(_libpointmatcherICP)
+	delete (PM::ICP*)_libpointmatcherICP;
-	{
-		delete (PM::ICP*)_libpointmatcherICP;
-	}
 #endif
 }
 

guilib/src/DatabaseViewer.cpp

@@ -419,15 +419,9 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 DatabaseViewer::~DatabaseViewer()
 {
 	delete ui_;
-	if(dbDriver_)
+	delete dbDriver_;
-	{
-		delete dbDriver_;
-	}
 #ifdef RTABMAP_OCTOMAP
-	if(octomap_)
+	delete octomap_;
-	{
-		delete octomap_;
-	}
 #endif
 }
 

guilib/src/DepthCalibrationDialog.cpp

@@ -94,10 +94,7 @@ DepthCalibrationDialog::DepthCalibrationDialog(QWidget *parent) :
 DepthCalibrationDialog::~DepthCalibrationDialog()
 {
 	delete _ui;
-	if(_model)
+	delete _model;
-	{
-		delete _model;
-	}
 }
 
 void DepthCalibrationDialog::saveSettings(QSettings & settings, const QString & group) const

guilib/src/ExportCloudsDialog.cpp

@@ -252,10 +252,7 @@ ExportCloudsDialog::ExportCloudsDialog(QWidget *parent) :
 ExportCloudsDialog::~ExportCloudsDialog()
 {
 	delete _ui;
-	if(_compensator)
+	delete _compensator;
-	{
-		delete _compensator;
-	}
 }
 
 void ExportCloudsDialog::updateMLSGrpVisibility()

guilib/src/ImageView.cpp

@@ -58,10 +58,7 @@ public:
 	}
 	virtual ~LineItem()
 	{
-		if(_placeHolder)
+		delete _placeHolder;
-		{
-			delete _placeHolder;
-		}
 	}
 
 	void setColor(const QColor & color);

guilib/src/KeypointItem.cpp

@@ -49,10 +49,7 @@ KeypointItem::KeypointItem(int id, const cv::KeyPoint & kpt, float depth, const
 
 KeypointItem::~KeypointItem()
 {
-	if(_placeHolder)
+	delete _placeHolder;
-	{
-		delete _placeHolder;
-	}
 }
 
 void KeypointItem::setColor(const QColor & color)