(Minor) Clean codes, e.g., managing double space, redundant line brea…

…k, no-space, etc, via .clang-format
MIT-SPARK · May 5, 2024 · 6b60fdb · 6b60fdb
1 parent 0383de1
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Showing 15 changed files with 26 additions and 32 deletions.
diff --git a/examples/teaser_cpp_fpfh/quatro_cpp_fpfh.cc b/examples/teaser_cpp_fpfh/quatro_cpp_fpfh.cc
@@ -16,8 +16,8 @@ inline double getAngularError(Eigen::Matrix3d R_exp, Eigen::Matrix3d R_est) {
   return std::abs(std::acos(fmin(fmax(((R_exp.transpose() * R_est).trace() - 1) / 2, -1.0), 1.0)));
 }
 
-inline void calcErrors(const Eigen::Matrix4d& T, const Eigen::Matrix3d est_rot, const Eigen::Vector3d est_ts,
-                double &rot_error, double& ts_error) {
+inline void calcErrors(const Eigen::Matrix4d& T, const Eigen::Matrix3d est_rot,
+                       const Eigen::Vector3d est_ts, double& rot_error, double& ts_error) {
   rot_error = getAngularError(T.topLeftCorner(3, 3), est_rot);
   ts_error = (T.topRightCorner(3, 1) - est_ts).norm();
 }
@@ -33,7 +33,7 @@ inline void getParams(const double noise_bound, const std::string reg_type,
     params.rotation_estimation_algorithm =
         teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::QUATRO;
     params.inlier_selection_mode = teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_HEU;
-  } else if  (reg_type == "TEASER") {
+  } else if (reg_type == "TEASER") {
     params.rotation_estimation_algorithm =
         teaser::RobustRegistrationSolver::ROTATION_ESTIMATION_ALGORITHM::GNC_TLS;
     params.inlier_selection_mode = teaser::RobustRegistrationSolver::INLIER_SELECTION_MODE::PMC_EXACT;

diff --git a/teaser/include/teaser/certification.h b/teaser/include/teaser/certification.h
@@ -52,15 +52,14 @@ class AbstractRotationCertifier {
  */
 class DRSCertifier : public AbstractRotationCertifier {
 public:
-
   /**
    * Solver for eigendecomposition solver / spectral decomposition.
    *
    * @brief For most cases, the default solvers in Eigen should be used.
    * For extremely large matrices, it may make sense to use Spectra instead.
    */
   enum class EIG_SOLVER_TYPE {
-    EIGEN = 0, ///< Use solvers in the Eigen library
+    EIGEN = 0,   ///< Use solvers in the Eigen library
     SPECTRA = 1, ///< Use solvers in the Spectra library
   };
 

diff --git a/teaser/include/teaser/geometry.h b/teaser/include/teaser/geometry.h
@@ -69,5 +69,4 @@ class PointCloud {
   std::vector<PointXYZ> points_;
 };
 
-
 } // namespace teaser
diff --git a/teaser/include/teaser/graph.h b/teaser/include/teaser/graph.h
@@ -258,7 +258,7 @@ class MaxCliqueSolver {
     /**
      * Number of threads to use for the solver
      */
-     int num_threads = 1;
+    int num_threads = 1;
   };
 
   MaxCliqueSolver() = default;

diff --git a/teaser/include/teaser/macros.h b/teaser/include/teaser/macros.h
@@ -65,5 +65,5 @@
   auto t_end_##s = clock_##s.now();                                                                \
   std::chrono::duration<double, std::milli> diff_dur_##s = t_end_##s - t_start_##s;                \
   double diff_##s = diff_dur_##s.count();
-#define TEASER_DEBUG_GET_TIMING(s)(double)(diff_##s / 1000.0)
+#define TEASER_DEBUG_GET_TIMING(s) (double)(diff_##s / 1000.0)
 #endif
diff --git a/teaser/include/teaser/matcher.h b/teaser/include/teaser/matcher.h
@@ -36,11 +36,11 @@ class Matcher {
    * @param use_tuple_test
    * @return
    */
-  std::vector<std::pair<int, int>>
-  calculateCorrespondences(const teaser::PointCloud& source_points, const teaser::PointCloud& target_points,
-                           const teaser::FPFHCloud& source_features, const teaser::FPFHCloud& target_features,
-                           bool use_absolute_scale = true, bool use_crosscheck = true,
-                           bool use_tuple_test = true, float tuple_scale = 0);
+  std::vector<std::pair<int, int>> calculateCorrespondences(
+      const teaser::PointCloud& source_points, const teaser::PointCloud& target_points,
+      const teaser::FPFHCloud& source_features, const teaser::FPFHCloud& target_features,
+      bool use_absolute_scale = true, bool use_crosscheck = true, bool use_tuple_test = true,
+      float tuple_scale = 0);
 
 private:
   template <typename T> void buildKDTree(const std::vector<T>& data, KDTree* tree);
@@ -56,7 +56,7 @@ class Matcher {
   std::vector<std::pair<int, int>> corres_;
   std::vector<teaser::PointCloud> pointcloud_;
   std::vector<Feature> features_;
-  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > means_; // for normalization
+  std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f>> means_; // for normalization
   float global_scale_;
 };
 

diff --git a/teaser/src/certification.cc b/teaser/src/certification.cc
@@ -97,7 +97,7 @@ teaser::DRSCertifier::certify(const Eigen::Matrix3d& R_solution,
 
   // this initial guess lives in the affine subspace
   // use 2 separate steps to limit slow evaluation on only the few non-zeros in the sparse matrix
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
   Eigen::SparseMatrix<double> M_init = Q_bar - mu * J_bar - lambda_bar_init;
 #else
   // fix for this bug in Eigen 3.2: https://eigen.tuxfamily.org/bz/show_bug.cgi?id=632
@@ -135,7 +135,7 @@ teaser::DRSCertifier::certify(const Eigen::Matrix3d& R_solution,
     TEASER_DEBUG_INFO_MSG("PSD time: " << TEASER_DEBUG_GET_TIMING(PSD));
 
     // projection to affine space
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
     temp_W = 2 * M_PSD - M - M_init;
 #else
     // fix for this bug in Eigen 3.2: https://eigen.tuxfamily.org/bz/show_bug.cgi?id=632
@@ -147,7 +147,7 @@ teaser::DRSCertifier::certify(const Eigen::Matrix3d& R_solution,
     getOptimalDualProjection(temp_W, theta_prepended, inverse_map, &W_dual);
     TEASER_DEBUG_STOP_TIMING(DualProjection);
     TEASER_DEBUG_INFO_MSG("Dual Projection time: " << TEASER_DEBUG_GET_TIMING(DualProjection));
-#if EIGEN_VERSION_AT_LEAST(3,3,0)
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
     M_affine = M_init + W_dual;
 #else
     // fix for this bug in Eigen 3.2: https://eigen.tuxfamily.org/bz/show_bug.cgi?id=632
@@ -604,7 +604,7 @@ void teaser::DRSCertifier::getLinearProjection(
           temp_column.emplace_back(var_i_idx, var_j_idx, entry_val);
           if (var_i_idx == var_j_idx) {
             diag_inserted = true;
-            diag_idx = temp_column.size()-1;
+            diag_idx = temp_column.size() - 1;
           }
         }
       }
@@ -623,7 +623,7 @@ void teaser::DRSCertifier::getLinearProjection(
           temp_column.emplace_back(var_i_idx, var_j_idx, entry_val);
           if (var_i_idx == var_j_idx) {
             diag_inserted = true;
-            diag_idx = temp_column.size()-1;
+            diag_idx = temp_column.size() - 1;
           }
         }
       }

diff --git a/teaser/src/graph.cc b/teaser/src/graph.cc
@@ -74,7 +74,7 @@ vector<int> teaser::MaxCliqueSolver::findMaxClique(teaser::Graph graph) {
     for (int i = 1; i < k_cores->size(); ++i) {
       // Note: k_core has size equals to num vertices + 1
       if ((*k_cores)[i] >= max_core) {
-        C.push_back(i-1);
+        C.push_back(i - 1);
       }
     }
     return C;

diff --git a/teaser/src/matcher.cc b/teaser/src/matcher.cc
@@ -6,7 +6,6 @@
  * See LICENSE for the license information
  */
 
-
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <flann/flann.hpp>

diff --git a/teaser/src/registration.cc b/teaser/src/registration.cc
@@ -378,13 +378,11 @@ void teaser::QuatroSolver::solveForRotation(
         weights(j) = sqrt(noise_bound_sq * mu * (mu + 1) / residuals_sq(j)) - mu;
         assert(weights(j) >= 0 && weights(j) <= 1);
       }
-
     }
 
     // Calculate cost
     double cost_diff = std::abs(cost_ - prev_cost);
 
-
     // Increase mu
     mu = mu * params_.gnc_factor;
     prev_cost = cost_;

diff --git a/test/teaser/feature-test.cc b/test/teaser/feature-test.cc
@@ -26,7 +26,7 @@ TEST(FPFHTest, CalculateFPFHFeaturesWithPCL) {
   // Read a PCD file from disk.
   pcl::PCLPointCloud2 cloud_blob;
   pcl::io::loadPCDFile("./data/bunny.pcd", cloud_blob);
-  pcl::fromPCLPointCloud2 (cloud_blob, *cloud);
+  pcl::fromPCLPointCloud2(cloud_blob, *cloud);
 
   // Estimate the normals.
   pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normalEstimation;
@@ -53,7 +53,7 @@ TEST(FPFHTest, CalculateFPFHFeaturesWithTeaserInterface) {
   pcl::PointCloud<pcl::PointXYZ>::Ptr pcl_cloud(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::PCLPointCloud2 cloud_blob;
   pcl::io::loadPCDFile("./data/bunny.pcd", cloud_blob);
-  pcl::fromPCLPointCloud2 (cloud_blob, *pcl_cloud);
+  pcl::fromPCLPointCloud2(cloud_blob, *pcl_cloud);
   teaser::PointCloud input_cloud;
   for (auto& p : *pcl_cloud) {
     input_cloud.push_back({p.x, p.y, p.z});

diff --git a/test/teaser/graph-test.cc b/test/teaser/graph-test.cc
@@ -63,7 +63,7 @@ TEST(GraphTest, BasicFunctions) {
     teaser::Graph graph;
     graph.populateVertices(2);
     graph.addEdge(1, 0);
-    EXPECT_TRUE(graph.hasEdge(1,0));
+    EXPECT_TRUE(graph.hasEdge(1, 0));
     EXPECT_TRUE(graph.hasVertex(1));
     EXPECT_TRUE(graph.hasVertex(0));
     EXPECT_EQ(graph.numEdges(), 1);
@@ -297,7 +297,7 @@ TEST(MaxCliqueSolverTest, FindMaxClique) {
     std::copy(clique.begin(), clique.end(), std::ostream_iterator<int>(std::cout, " "));
     std::cout << std::endl;
     std::set<int> s(clique.begin(), clique.end());
-    std::vector<int> ref_clique{0,1,2,3,4};
+    std::vector<int> ref_clique{0, 1, 2, 3, 4};
     for (const auto& i : ref_clique) {
       EXPECT_TRUE(s.find(i) != s.end());
     }
@@ -356,7 +356,6 @@ TEST(PMCTest, FindMaximumCliqueSingleThreaded) {
   EXPECT_EQ(C.size(), 5);
 }
 
-
 TEST(PMCTest, FindMaximumCliqueMultiThreaded) {
   // A complete graph with max clique # = 5
   auto in = generateMockInput();

diff --git a/test/teaser/matcher-test.cc b/test/teaser/matcher-test.cc
@@ -67,7 +67,7 @@ TEST(FPFHMatcherTest, MatchCase1) {
     ASSERT_EQ(tokens.size(), 2);
     ref_correspondences.emplace_back(
         // -1 because the ref correspondences use 1-index (MATLAB)
-        std::pair<int, int>{std::stoi(tokens[0])-1, std::stoi(tokens[1])-1});
+        std::pair<int, int>{std::stoi(tokens[0]) - 1, std::stoi(tokens[1]) - 1});
   }
 
   // compare calculated correspondences with reference correspondences

diff --git a/test/teaser/rotation-solver-test.cc b/test/teaser/rotation-solver-test.cc
@@ -31,7 +31,7 @@ TEST(RotationSolverTest, FGRRotation) {
     Eigen::Matrix<double, 3, Eigen::Dynamic> dst_points = src_points;
 
     // Set up FGR
-    teaser::FastGlobalRegistrationSolver::Params params{1000, 0.0337, 1.4,  1e-3};
+    teaser::FastGlobalRegistrationSolver::Params params{1000, 0.0337, 1.4, 1e-3};
     teaser::FastGlobalRegistrationSolver fgr_solver(params);
 
     Eigen::Matrix3d result;

diff --git a/test/teaser/utils-test.cc b/test/teaser/utils-test.cc
@@ -115,8 +115,8 @@ TEST(UtilsTest, CalculatePointClusterDiameter) {
   {
     Eigen::Matrix<float, 3, Eigen::Dynamic> test_mat(3,3);
     test_mat << -1, 0, 1,
-        -1, 0, 1,
-        -1, 0, 1;
+                -1, 0, 1,
+                -1, 0, 1;
     float d = teaser::utils::calculateDiameter<float, 3>(test_mat);
     EXPECT_NEAR(d, 3.4641, 0.0001);
   }
Original file line number	Diff line number	Diff line change
Expand Up		@@ -69,5 +69,4 @@ class PointCloud {
		std::vector<PointXYZ> points_;
		};


		} // namespace teaser