format all .h .cc files

common/geometry/pose3d.h

@@ -21,9 +21,7 @@ class Pose3d {
   Pose3d(const double *const r_quat, const double *const t_vec)
       : r_quat_(r_quat), t_vec_(t_vec) {}
 
-  static Pose3d Identity() { return {}; }
+  void SetIdentity() {
-
-  void setIdentity() {
     r_quat_.setIdentity();
     t_vec_.setZero();
   }
@@ -79,11 +77,15 @@ class Pose3d {
 
   // const Eigen::Quaterniond& r_quat() const { return r_quat_; }
 
-  Eigen::Quaterniond r_quat() const { return r_quat_; }
+  Eigen::Quaterniond r_quat() const {
+    return r_quat_;
+  }
 
   // const Eigen::Vector3d& t_vec() const { return t_vec_; }
 
-  Eigen::Vector3d t_vec() const { return t_vec_; }
+  Eigen::Vector3d t_vec() const {
+    return t_vec_;
+  }
 
  protected:
   Eigen::Quaterniond r_quat_;  // orientation/rotation

common/math/math_utils.cc

@@ -9,9 +9,13 @@ double NormalizeAngle(double ang) {
   return ang - two_pi * std::floor((ang + M_PI) / two_pi);
 }
 
-double Degree2Rad(double degree) { return degree * M_PI / 180.0; }
+double Degree2Rad(double degree) {
+  return degree * M_PI / 180.0;
+}
 
-double Rad2Degree(double rad) { return rad * 180.0 / M_PI; }
+double Rad2Degree(double rad) {
+  return rad * 180.0 / M_PI;
+}
 
 const std::vector<int> Range(int begin, int end, int step) {
   ACHECK(step != 0) << "Step must non-zero";
@@ -23,6 +27,8 @@ const std::vector<int> Range(int begin, int end, int step) {
   return seq;
 }
 
-const std::vector<int> Range(int end) { return Range(0, end, 1); }
+const std::vector<int> Range(int end) {
+  return Range(0, end, 1);
+}
 
 }  // namespace common

common/time/timer.h

@@ -9,9 +9,13 @@ namespace common {
 
 class Timer {
  public:
-  Timer() { Tic(); }
+  Timer() {
+    Tic();
+  }
 
-  void Tic() { start_ = std::chrono::system_clock::now(); }
+  void Tic() {
+    start_ = std::chrono::system_clock::now();
+  }
 
   // unit: 's' = second, 'm' = millisecond, 'u' = microsecond
   double Toc(char unit = 'm');

common/visualizer/lidar_visualizer.h

@@ -55,7 +55,9 @@ class LidarVisualizer {
     is_updated_ = true;
   }
 
-  std::string name() const { return name_; }
+  std::string name() const {
+    return name_;
+  }
 
  protected:
   void Run() {

oh_my_loam/configs/config.yaml

@@ -12,7 +12,7 @@ extractor_config:
   sharp_corner_point_num: 2
   corner_point_num: 20
   flat_surf_point_num: 4
-  surf_point_num: 20
+  surf_point_num: 50
   corner_point_curvature_th: 0.5
   surf_point_curvature_th: 0.5
   neighbor_point_dist_th: 0.1

oh_my_loam/extractor/extractor.h

@@ -18,7 +18,9 @@ class Extractor {
   void Process(double timestamp, const common::PointCloudConstPtr &cloud,
                std::vector<Feature> *const features);
 
-  int num_scans() const { return num_scans_; }
+  int num_scans() const {
+    return num_scans_;
+  }
 
  protected:
   virtual int GetScanID(const common::Point &pt) const = 0;

oh_my_loam/extractor/extractor_VLP16.h

@@ -7,7 +7,9 @@ namespace oh_my_loam {
 // for VLP-16
 class ExtractorVLP16 : public Extractor {
  public:
-  ExtractorVLP16() { num_scans_ = 16; }
+  ExtractorVLP16() {
+    num_scans_ = 16;
+  }
 
  private:
   int GetScanID(const common::Point &pt) const override;

oh_my_loam/odometer/odometer.cc

@@ -22,14 +22,14 @@ bool Odometer::Init() {
 }
 
 void Odometer::Process(double timestamp, const std::vector<Feature> &features,
-                       Pose3d *const pose) {
+                       Pose3d *const pose_out) {
   BLOCK_TIMER_START;
   if (!is_initialized_) {
     UpdatePre(features);
     is_initialized_ = true;
-    pose_curr2last_ = Pose3d::Identity();
+    pose_curr2last_.SetIdentity();
-    pose_curr2world_ = Pose3d::Identity();
+    pose_curr2world_.SetIdentity();
-    *pose = Pose3d::Identity();
+    pose_out->SetIdentity();
     AWARN << "Odometer initialized....";
     return;
   }
@@ -59,7 +59,7 @@ void Odometer::Process(double timestamp, const std::vector<Feature> &features,
     solver.Solve(5, verbose_, &pose_curr2last_);
   }
   pose_curr2world_ = pose_curr2world_ * pose_curr2last_;
-  *pose = pose_curr2world_;
+  *pose_out = pose_curr2world_;
   AINFO_IF(verbose_) << "Pose increase: " << pose_curr2last_.ToString();
   AINFO_IF(verbose_) << "Pose after: " << pose_curr2world_.ToString();
   UpdatePre(features);

oh_my_loam/odometer/odometer.h

@@ -16,7 +16,7 @@ class Odometer {
   bool Init();
 
   void Process(double timestamp, const std::vector<Feature> &features,
-               common::Pose3d *const pose);
+               common::Pose3d *const pose_out);
 
  protected:
   void UpdatePre(const std::vector<Feature> &features);
@@ -41,6 +41,8 @@ class Odometer {
 
   std::vector<TPointCloudPtr> clouds_corn_pre_;
   std::vector<TPointCloudPtr> clouds_surf_pre_;
+  TPointCloudPtr corn_pre_;
+  TPointCloudPtr surf_pre_;
 
   std::vector<pcl::KdTreeFLANN<TPoint>> kdtrees_surf_;
   std::vector<pcl::KdTreeFLANN<TPoint>> kdtrees_corn_;