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add ./scripts/clang-format-all.sh and fix formatting

This commit is contained in:
Nikolaus Demmel 2019-04-24 13:16:06 +02:00
parent ac80d2ea30
commit 9624f6b391
24 changed files with 161 additions and 130 deletions
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7
.clang-format
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@ -1,6 +1,7 @@
---
Language: Cpp
BasedOnStyle: Google
IndentWidth: 2
Language: Cpp
BasedOnStyle: Google
IndentWidth: 2
IncludeBlocks: Preserve
...

2
include/basalt/calibration/vignette.h
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@ -84,4 +84,4 @@ class VignetteEstimator {
std::vector<double> irradiance;
std::vector<basalt::RdSpline<1, SPLINE_N>> vign_param;
};
}
} // namespace basalt

5
include/basalt/io/dataset_io.h
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@ -179,8 +179,9 @@ template <class Archive, class _Scalar, int _Rows, int _Cols, int _Options,
inline
typename std::enable_if<_Rows == Eigen::Dynamic || _Cols == Eigen::Dynamic,
void>::type
load(Archive &ar, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows,
_MaxCols> &matrix) {
load(Archive &ar,
Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
&matrix) {
std::int32_t rows;
std::int32_t cols;
ar(rows);

35
include/basalt/optimization/spline_linearize.h
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@ -135,9 +135,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << time << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(
time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
// Residual from current value of spline
Vector3 residual_pos =
@ -207,12 +207,12 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
// std::cout << "time " << t << std::endl;
// std::cout << "sline.minTime() " << spline.minTime() << std::endl;
BASALT_ASSERT_STREAM(t >= spline->minTimeNs(),
"t " << t << " spline.minTime() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(t <= spline->maxTimeNs(),
"t " << t << " spline.maxTime() "
<< spline->maxTimeNs());
BASALT_ASSERT_STREAM(
t >= spline->minTimeNs(),
"t " << t << " spline.minTime() " << spline->minTimeNs());
BASALT_ASSERT_STREAM(
t <= spline->maxTimeNs(),
"t " << t << " spline.maxTime() " << spline->maxTimeNs());
Vector3 residual = spline->accelResidual(
t, pm.data, this->common_data.calibration->calib_accel_bias,
@ -255,8 +255,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
BASALT_ASSERT(start_j < opt_size);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_i, start_j, accel_var_inv * J.d_val_d_knot[i].transpose() *
J.d_val_d_knot[j]);
start_i, start_j,
accel_var_inv * J.d_val_d_knot[i].transpose() *
J.d_val_d_knot[j]);
}
accum.template addH<ACCEL_BIAS_SIZE, POSE_SIZE>(
start_bias, start_i,
@ -497,9 +498,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
if (time_ns < spline->minTimeNs() || time_ns >= spline->maxTimeNs())
continue;
BASALT_ASSERT_STREAM(time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() "
<< spline->minTimeNs());
BASALT_ASSERT_STREAM(
time_ns >= spline->minTimeNs(),
"time " << time_ns << " spline.minTimeNs() " << spline->minTimeNs());
const SE3 T_moc_w = this->common_data.mocap_calibration->T_moc_w;
const SE3 T_i_mark = this->common_data.mocap_calibration->T_i_mark;
@ -563,9 +564,9 @@ struct LinearizeSplineOpt : public LinearizeBase<Scalar> {
d_res_d_T_w_i.transpose() * residual);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_moc_w, start_i, mocap_var_inv *
d_res_d_T_moc_w.transpose() *
d_res_d_T_w_i * J_pose.d_val_d_knot[i]);
start_T_moc_w, start_i,
mocap_var_inv * d_res_d_T_moc_w.transpose() * d_res_d_T_w_i *
J_pose.d_val_d_knot[i]);
accum.template addH<POSE_SIZE, POSE_SIZE>(
start_T_i_mark, start_i,

4
include/basalt/utils/common_types.h
View File

@ -238,7 +238,7 @@ using ImageProjections = std::map<TimeCamId, ImageProjection>;
/// inlier projections indexed per track
using TrackProjections =
std::unordered_map<TrackId, std::map<TimeCamId, ProjectedLandmarkConstPtr>>;
}
} // namespace basalt
namespace cereal {
@ -251,4 +251,4 @@ template <class Archive>
void serialize(Archive& ar, basalt::MatchData& c) {
ar(c.T_i_j, c.matches, c.inliers);
}
}
} // namespace cereal

2
include/basalt/utils/keypoints.h
View File

@ -53,7 +53,7 @@ namespace basalt {
typedef std::bitset<256> Descriptor;
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features);
KeypointsData& kd, int num_features);
void detectKeypoints(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int PATCH_SIZE = 32,

2
include/basalt/utils/nfr.h
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@ -117,4 +117,4 @@ inline Sophus::Vector2d rollPitchError(
return res.head<2>();
}
}
} // namespace basalt

6
include/basalt/utils/sim_utils.h
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@ -43,13 +43,11 @@ struct SimObservations {
std::vector<int> id;
};
}
} // namespace basalt
namespace cereal {
template <class Archive>
void serialize(Archive& ar, basalt::SimObservations& c) {
ar(c.pos, c.id);
}
}
} // namespace cereal

5
include/basalt/utils/tracks.h
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@ -47,11 +47,8 @@
#include <basalt/utils/common_types.h>
#include <basalt/utils/union_find.h>
namespace basalt {
/// TrackBuild class creates feature tracks from matches
struct TrackBuilder {
std::map<ImageFeaturePair, TrackId> map_node_to_index;
@ -222,4 +219,4 @@ bool GetSharedTracks(const TimeCamId& image_id, const FeatureTracks& all_tracks,
return !track_ids.empty();
}
}
} // namespace basalt

43
scripts/clang-format-all.sh Executable file
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@ -0,0 +1,43 @@
#!/usr/bin/env bash
# Format all source files in the project.
# Optionally take folder as argument; default is full inlude and src dirs.
set -e
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
FOLDER="${1:-$SCRIPT_DIR/../include $SCRIPT_DIR/../src $SCRIPT_DIR/../test/src}"
CLANG_FORMAT_COMMANDS="clang-format-9 clang-format-8 clang-format"
# find the first available command:
for CMD in $CLANG_FORMAT_COMMANDS; do
if hash $CMD 2>/dev/null; then
CLANG_FORMAT_CMD=$CMD
break
fi
done
if [ -z $CLANG_FORMAT_CMD ]; then
echo "clang-format not installed..."
exit 1
fi
# clang format check version
MAJOR_VERSION_NEEDED=8
MAJOR_VERSION_DETECTED=`$CLANG_FORMAT_CMD -version | sed -n -E 's/.*version ([0-9]+).*/\1/p'`
if [ -z $MAJOR_VERSION_DETECTED ]; then
echo "Failed to parse major version (`$CLANG_FORMAT_CMD -version`)"
exit 1
fi
echo "clang-format version $MAJOR_VERSION_DETECTED (`$CLANG_FORMAT_CMD -version`)"
if [ $MAJOR_VERSION_DETECTED -lt $MAJOR_VERSION_NEEDED ]; then
echo "Looks like your clang format is too old; need at least version $MAJOR_VERSION_NEEDED"
exit 1
fi
find $FOLDER -iname "*.?pp" -or -iname "*.h" | xargs $CLANG_FORMAT_CMD -verbose -i

1
src/calibrate.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/calibration/cam_calib.h>
#include <tbb/tbb.h>

1
src/calibration/vignette.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/calibration/vignette.h>
namespace basalt {

1
src/io/dataset_io.cpp
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@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/io/dataset_io.h>
#include <basalt/io/dataset_io_euroc.h>
#include <basalt/io/dataset_io_rosbag.h>

2
src/mapper.cpp
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@ -323,7 +323,7 @@ int main(int argc, char** argv) {
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
} else {
//optimize();
// optimize();
detect();
match();
tracks();

3
src/mapper_sim.cpp
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@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -120,7 +119,7 @@ double alignButton();
void setup_points();
constexpr int UI_WIDTH = 200;
//constexpr int NUM_FRAMES = 500;
// constexpr int NUM_FRAMES = 500;
basalt::Calibration<double> calib;

5
src/mapper_sim_naive.cpp
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@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -492,8 +491,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path

5
src/opt_flow.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -321,8 +320,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path

1
src/optical_flow/optical_flow.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/optical_flow/optical_flow.h>
#include <basalt/optical_flow/frame_to_frame_optical_flow.h>

2
src/utils/keypoints.cpp
View File

@ -128,7 +128,7 @@ const static char pattern_31_y_b[256] = {
-11};
void detectKeypointsMapping(const basalt::Image<const uint16_t>& img_raw,
KeypointsData& kd, int num_features) {
KeypointsData& kd, int num_features) {
cv::Mat image(img_raw.h, img_raw.w, CV_8U);
uint8_t* dst = image.ptr();

5
src/vi_estimator/ba_base.cpp
View File

@ -33,8 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <basalt/vi_estimator/ba_base.h>
#include <tbb/parallel_for.h>
@ -354,7 +352,6 @@ void BundleAdjustmentBase::linearizeHelper(
}
}
}
});
for (const auto& rld : rld_vec) error += rld.error;
@ -522,4 +519,4 @@ void BundleAdjustmentBase::marginalizeHelper(Eigen::MatrixXd& abs_H,
abs_H.resize(0, 0);
abs_b.resize(0);
}
}
} // namespace basalt

11
src/vio_sim.cpp
View File

@ -33,7 +33,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <algorithm>
#include <chrono>
#include <iostream>
@ -541,8 +540,8 @@ void load_data(const std::string& calib_path) {
if (os.is_open()) {
cereal::JSONInputArchive archive(os);
archive(calib);
std::cout << "Loaded camera with " << calib.intrinsics.size()
<< " cameras" << std::endl;
std::cout << "Loaded camera with " << calib.intrinsics.size() << " cameras"
<< std::endl;
} else {
std::cerr << "could not load camera calibration " << calib_path
@ -595,9 +594,9 @@ void compute_projections() {
void gen_data() {
for (size_t i = 0; i < calib.intrinsics.size(); i++) {
images.emplace_back();
images.back() = pangolin::TypedImage(
calib.resolution[i][0], calib.resolution[i][1],
pangolin::PixelFormatFromString("GRAY8"));
images.back() =
pangolin::TypedImage(calib.resolution[i][0], calib.resolution[i][1],
pangolin::PixelFormatFromString("GRAY8"));
images.back().Fill(200);
}

17
test/src/test_image.cpp
View File

@ -27,14 +27,15 @@ TEST(Pattern, ImageInterp) {
// std::cerr << "vg\n" << vg << std::endl;
test_jacobian("d_val_d_p", J,
[&](const Eigen::Vector2d &x) {
Eigen::Matrix<double, 1, 1> res;
Eigen::Vector2d p1 = offset + x;
res[0] = img.interpGrad(p1)[0];
return res;
},
Eigen::Vector2d::Zero(), 1.0);
test_jacobian(
"d_val_d_p", J,
[&](const Eigen::Vector2d &x) {
Eigen::Matrix<double, 1, 1> res;
Eigen::Vector2d p1 = offset + x;
res[0] = img.interpGrad(p1)[0];
return res;
},
Eigen::Vector2d::Zero(), 1.0);
}
TEST(Image, ImageInterpolate) {

82
test/src/test_nfr.cpp
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@ -34,29 +34,29 @@ TEST(PreIntegrationTestSuite, RelPoseTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j);
},
x0);
return basalt::relPoseError(T_i_j, T_w_i_new, T_w_j);
},
x0);
}
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_j", d_res_d_T_w_j,
[&](const Sophus::Vector6d& x) {
auto T_w_j_new = T_w_j;
basalt::PoseState::incPose(x, T_w_j_new);
test_jacobian(
"d_res_d_T_w_j", d_res_d_T_w_j,
[&](const Sophus::Vector6d& x) {
auto T_w_j_new = T_w_j;
basalt::PoseState::incPose(x, T_w_j_new);
return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new);
},
x0);
return basalt::relPoseError(T_i_j, T_w_i, T_w_j_new);
},
x0);
}
}
@ -71,15 +71,15 @@ TEST(PreIntegrationTestSuite, AbsPositionTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::absPositionError(T_w_i_new, pos);
},
x0);
return basalt::absPositionError(T_w_i_new, pos);
},
x0);
}
}
@ -97,17 +97,17 @@ TEST(PreIntegrationTestSuite, YawTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
double res = basalt::yawError(T_w_i_new, yaw_dir_body);
double res = basalt::yawError(T_w_i_new, yaw_dir_body);
return Eigen::Matrix<double, 1, 1>(res);
},
x0);
return Eigen::Matrix<double, 1, 1>(res);
},
x0);
}
}
@ -124,14 +124,14 @@ TEST(PreIntegrationTestSuite, RollPitchTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
test_jacobian(
"d_res_d_T_w_i", d_res_d_T_w_i,
[&](const Sophus::Vector6d& x) {
auto T_w_i_new = T_w_i;
basalt::PoseState::incPose(x, T_w_i_new);
return basalt::rollPitchError(T_w_i_new, R_w_i);
},
x0);
return basalt::rollPitchError(T_w_i_new, R_w_i);
},
x0);
}
}

44
test/src/test_vio.cpp
View File

@ -372,37 +372,37 @@ TEST(PreIntegrationTestSuite, LinearizePointsTest) {
{
Sophus::Vector6d x0;
x0.setZero();
test_jacobian("d_res_d_xi", d_res_d_xi,
[&](const Sophus::Vector6d& x) {
Eigen::Matrix4d T_t_h_new =
(Sophus::expd(x) * T_t_h_sophus).matrix();
test_jacobian(
"d_res_d_xi", d_res_d_xi,
[&](const Sophus::Vector6d& x) {
Eigen::Matrix4d T_t_h_new = (Sophus::expd(x) * T_t_h_sophus).matrix();
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(
kpt_obs, kpt_pos, T_t_h_new, cam, res);
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos,
T_t_h_new, cam, res);
return res;
},
x0);
return res;
},
x0);
}
{
Eigen::Vector3d x0;
x0.setZero();
test_jacobian("d_res_d_p", d_res_d_p,
[&](const Eigen::Vector3d& x) {
basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new =
kpt_pos;
test_jacobian(
"d_res_d_p", d_res_d_p,
[&](const Eigen::Vector3d& x) {
basalt::KeypointVioEstimator::KeypointPosition kpt_pos_new = kpt_pos;
kpt_pos_new.dir += x.head<2>();
kpt_pos_new.id += x[2];
kpt_pos_new.dir += x.head<2>();
kpt_pos_new.id += x[2];
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(
kpt_obs, kpt_pos_new, T_t_h, cam, res);
Eigen::Vector2d res;
basalt::KeypointVioEstimator::linearizePoint(kpt_obs, kpt_pos_new,
T_t_h, cam, res);
return res;
},
x0);
return res;
},
x0);
}
}