Fix uninitialized build warnings (#6283)

* Fix some build warnings

* clang format

* Add PCL_ERROR message if the SVD fails

---------

Co-authored-by: jmackay2 <jmackay2>
Co-authored-by: jmackay2 <[email protected]>

Author: jmackay2

io/include/pcl/io/impl/vtk_lib_io.hpp

@@ -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]);

recognition/src/ransac_based/obj_rec_ransac.cpp

@@ -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;

registration/include/pcl/registration/impl/ndt.hpp

@@ -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);