From 191ba733b14c2bf7e213563b6ffd900513c6d821 Mon Sep 17 00:00:00 2001
From: feixyz10 <fei-china@139.com>
Date: Sat, 27 Feb 2021 17:55:29 +0800
Subject: [PATCH] add factory ...

---
 common/macro/macros.h           | 23 +++++++++--------------
 common/math/fitting.h           | 14 --------------
 common/pcl/pcl_utils.h          |  3 +--
 common/registerer/registerer.cc |  0
 common/registerer/registerer.h  | 19 +++++++++++++++++++
 common/time/timer.cc            |  4 ++++
 common/time/timer.h             |  4 +---
 7 files changed, 34 insertions(+), 33 deletions(-)
 create mode 100644 common/registerer/registerer.cc
 create mode 100644 common/registerer/registerer.h

diff --git a/common/macro/macros.h b/common/macro/macros.h
index b7108ec..96a2e1f 100644
--- a/common/macro/macros.h
+++ b/common/macro/macros.h
@@ -12,18 +12,13 @@
   classname &operator=(const classname &) = delete;
 
 // adapted form baidu apollo cyber/common/macros.h
-#define DECLARE_SINGLETON(classname)                                           \
- public:                                                                       \
-  static classname *Instance() {                                               \
-    static std::unique_ptr<classname> instance{nullptr};                       \
-    if (!instance) {                                                           \
-      static std::once_flag flag;                                              \
-      std::call_once(flag,                                                     \
-                     [&] { instance.reset(new (std::nothrow) classname()); }); \
-    }                                                                          \
-    return instance.get();                                                     \
-  }                                                                            \
-                                                                               \
- private:                                                                      \
-  classname() = default;                                                       \
+#define DECLARE_SINGLETON(classname) \
+ public:                             \
+  static classname *Instance() {     \
+    static classname instance;       \
+    return &instance;                \
+  }                                  \
+                                     \
+ private:                            \
+  classname() = default;             \
   DISALLOW_COPY_AND_ASSIGN(classname)
diff --git a/common/math/fitting.h b/common/math/fitting.h
index 9c2e756..ebd7030 100644
--- a/common/math/fitting.h
+++ b/common/math/fitting.h
@@ -74,18 +74,4 @@ Eigen::Vector4d FitPlane(const pcl::PointCloud<PT> &cloud,
   return coeffs;
 }
 
-// template <typename PT>
-// Eigen::Vector4d FitPlane(const pcl::PointCloud<PT> &cloud) {
-//   Eigen::MatrixX3f A(cloud.size(), 3);  // NOLINT
-//   Eigen::VectorXf b(cloud.size());
-//   b.setConstant(-1.0);
-//   size_t i = 0;
-//   for (const auto &p : cloud) {
-//     A.row(i++) << p.x, p.y, p.z;
-//   }
-//   Eigen::Vector3f sol = A.colPivHouseholderQr().solve(b);
-//   Eigen::Vector4d coeff(sol(0), sol(1), sol(2), 1.0);
-//   return coeff / sol.norm();
-// }
-
 }  // namespace common
\ No newline at end of file
diff --git a/common/pcl/pcl_utils.h b/common/pcl/pcl_utils.h
index fe64b4c..9ff213b 100644
--- a/common/pcl/pcl_utils.h
+++ b/common/pcl/pcl_utils.h
@@ -62,7 +62,6 @@ template <typename PT>
 inline void TransformPointCloud(const Pose3d &pose,
                                 const pcl::PointCloud<PT> &cloud_in,
                                 pcl::PointCloud<PT> *const cloud_out) {
-  ACHECK(cloud_out);
   pcl::transformPointCloud(cloud_in, *cloud_out, pose.TransMat().cast<float>());
 }
 
@@ -78,7 +77,7 @@ void RemovePoints(const pcl::PointCloud<PT> &cloud_in,
   }
   size_t j = 0;
   for (size_t i = 0; i < cloud_in.size(); ++i) {
-    const auto pt = cloud_in.points[i];
+    const auto &pt = cloud_in.points[i];
     if (check(pt)) {
       if (removed_indices) removed_indices->push_back(i);
       continue;
diff --git a/common/registerer/registerer.cc b/common/registerer/registerer.cc
new file mode 100644
index 0000000..e69de29
diff --git a/common/registerer/registerer.h b/common/registerer/registerer.h
new file mode 100644
index 0000000..ccf8205
--- /dev/null
+++ b/common/registerer/registerer.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <map>
+#include <memory>
+#include <string>
+
+#include "common/log/log.h"
+#include "common/macro/macros.h"
+
+template <typename BaseClass>
+class AbstractFactory {
+  virtual ~AbstractFactory() = default;
+  virtual std::shared_ptr<BaseClass> Create() = 0;
+};
+
+template <typename BaseClass, typename DerivedClass>
+class ConcreteFactory {
+  virtual std::shared_ptr<BaseClass> Create() = 0;
+};
\ No newline at end of file
diff --git a/common/time/timer.cc b/common/time/timer.cc
index 057ae25..45c8305 100644
--- a/common/time/timer.cc
+++ b/common/time/timer.cc
@@ -4,6 +4,10 @@
 
 namespace common {
 
+void Timer::Tic() {
+  start_ = std::chrono::system_clock::now();
+}
+
 double Timer::Toc(char unit) {
   ACHECK(unit == 's' || unit == 'm' || unit == 'u')
       << "Only 's'(second), 'm'(millisecond) and 'u'(microsecond) are "
diff --git a/common/time/timer.h b/common/time/timer.h
index 833f2b3..5e66930 100644
--- a/common/time/timer.h
+++ b/common/time/timer.h
@@ -13,9 +13,7 @@ class Timer {
     Tic();
   }
 
-  void Tic() {
-    start_ = std::chrono::system_clock::now();
-  }
+  void Tic();
 
   // unit: 's' = second, 'm' = millisecond, 'u' = microsecond
   double Toc(char unit = 'm');