add factory ...

common/macro/macros.h

@@ -15,13 +15,8 @@
 #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();                                                     \
+    static classname instance;       \
+    return &instance;                \
   }                                  \
                                      \
  private:                            \

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

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;

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;
+};

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 "

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');