From 58b20fe51bb69d2b42bc9660baf3df20df7b13a4 Mon Sep 17 00:00:00 2001
From: cont-integration <CI@iri.upc.edu>
Date: Tue, 6 May 2025 15:32:37 +0200
Subject: [PATCH] [skip ci] applied clang format
---
include/vision/processor/processor_visual_odometry.h | 2 +-
src/processor/processor_visual_odometry.cpp | 6 +++---
test/gtest_processor_visual_odometry.cpp | 8 ++++----
3 files changed, 8 insertions(+), 8 deletions(-)
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 388e3aa4e..4936a1a7f 100644
--- a/include/vision/processor/processor_visual_odometry.h
+++ b/include/vision/processor/processor_visual_odometry.h
@@ -240,7 +240,7 @@ class ProcessorVisualOdometry : public ProcessorTracker, public MotionProvider
{
public:
ProcessorVisualOdometry(const YAML::Node& _params);
- virtual ~ProcessorVisualOdometry() override {};
+ virtual ~ProcessorVisualOdometry() override{};
TimeStamp getTimeStamp() const override;
VectorComposite getState(StateKeys _structure = "") const override;
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index c63f98259..3e1f2de78 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -386,7 +386,8 @@ void ProcessorVisualOdometry::establishFactors()
// std::cout << "NEW valid track \\o/" << std::endl;
auto lmk_ptr = emplaceLandmarkTriangulation(feat_pi, track_kf);
- if (not lmk_ptr) lmk_ptr = emplaceLandmarkNaive(feat_pi, params_visual_odometry_.lmk_creation.distance_init);
+ if (not lmk_ptr)
+ lmk_ptr = emplaceLandmarkNaive(feat_pi, params_visual_odometry_.lmk_creation.distance_init);
// Associate all features of the track to the landmark
for (auto feat_track : track_matrix_.track(feat->trackId()))
@@ -848,8 +849,7 @@ bool ProcessorVisualOdometry::tryTriangulationFromFeatures(FeaturePointImagePtr
// Normalization necessary since homogeneous point stateblock is supposed to be unitary
pt_w.normalize();
- if (pt_w(3) < 0)
- pt_w *= -1;
+ if (pt_w(3) < 0) pt_w *= -1;
// Cheriality check
// transform to camera frame
diff --git a/test/gtest_processor_visual_odometry.cpp b/test/gtest_processor_visual_odometry.cpp
index d82e50bfa..61f4c2af5 100644
--- a/test/gtest_processor_visual_odometry.cpp
+++ b/test/gtest_processor_visual_odometry.cpp
@@ -436,8 +436,7 @@ class ProcessorVOMultiView_class : public testing::Test
X_c1.push_back((Eigen::Vector4d() << 0.75, 0.75, 2.0, 1.0).finished());
// Keep 3D points in the world frame
- for(auto i = 0; i < X_c1.size(); i++)
- X_w.push_back(X_c1.at(i));
+ for (auto i = 0; i < X_c1.size(); i++) X_w.push_back(X_c1.at(i));
// Project pixels in the first view
auto cam_dist_vec = camera->getDistortionVector();
@@ -446,7 +445,7 @@ class ProcessorVOMultiView_class : public testing::Test
mwkps_c1.emplace(i, WKeyPoint(pinhole::projectPoint(k, cam_dist_vec, X_c1.at(i).head<3>())));
// Set the transformation between views 1 and 2
- t_12 = Vector3d(0.2, 0.1, 0.0); // t_12 = Vector3d(2, 0, 0.0);
+ t_12 = Vector3d(0.2, 0.1, 0.0); // t_12 = Vector3d(2, 0, 0.0);
Eigen::Vector3d euler(0.2, 0.1, 0.3);
q_12 = e2q(euler);
@@ -549,7 +548,8 @@ TEST_F(ProcessorVOMultiView_class, tryTriangulationFromFeatures)
track.emplace(1.0, f2);
Vector4d pt_c;
- EXPECT_TRUE(processor->tryTriangulationFromFeatures(std::static_pointer_cast<FeaturePointImage>(f2), track, pt_c));
+ EXPECT_TRUE(
+ processor->tryTriangulationFromFeatures(std::static_pointer_cast<FeaturePointImage>(f2), track, pt_c));
EXPECT_QUATERNION_VECTOR_APPROX(
X_c1.at(i).normalized(), pt_c, 1e-3); // Homogeneous (if normalized) is equivalent to quaternion
--
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