refactoring

svo/src/frame_handler_base.cpp

@@ -35,8 +35,7 @@ namespace svo
 vk::PerformanceMonitor* g_permon = NULL;
 #endif
 
-FrameHandlerBase::
+FrameHandlerBase::FrameHandlerBase() :
-FrameHandlerBase() :
   stage_(STAGE_PAUSED),
   set_reset_(false),
   set_start_(false),
@@ -85,16 +84,14 @@ FrameHandlerBase() :
   SVO_INFO_STREAM("NanoSlam initialized");
 }
 
-FrameHandlerBase::
+FrameHandlerBase::~FrameHandlerBase()
-~FrameHandlerBase()
 {
   SVO_INFO_STREAM("SVO destructor invoked.");
   delete depth_filter_;
   SVO_INFO_STREAM("SVO destructed.");
 }
 
-bool FrameHandlerBase::
+bool FrameHandlerBase::startFrameProcessingCommon(const double timestamp)
-startFrameProcessingCommon(const double timestamp)
 {
   if(set_start_)
   {
@@ -115,8 +112,7 @@ startFrameProcessingCommon(const double timestamp)
   return true;
 }
 
-int FrameHandlerBase::
+int FrameHandlerBase::finishFrameProcessingCommon(
-finishFrameProcessingCommon(
     const size_t update_id,
     const UpdateResult dropout,
     const size_t num_observations)
@@ -146,8 +142,7 @@ finishFrameProcessingCommon(
   return 0;
 }
 
-void FrameHandlerBase::
+void FrameHandlerBase::resetCommon()
-resetCommon()
 {
   map_.reset();
   stage_ = STAGE_PAUSED;
@@ -159,8 +154,7 @@ resetCommon()
   SVO_INFO_STREAM("RESET");
 }
 
-void FrameHandlerBase::
+void FrameHandlerBase::setTrackingQuality(const size_t num_observations)
-setTrackingQuality(const size_t num_observations)
 {
   tracking_quality_ = TRACKING_GOOD;
   if(num_observations < Config::qualityMinFts())
@@ -186,8 +180,10 @@ bool ptLastOptimComparator(Point* lhs, Point* rhs)
   return (lhs->last_structure_optim_ < rhs->last_structure_optim_);
 }
 
-void FrameHandlerBase::
+void FrameHandlerBase::optimizeStructure(
-optimizeStructure(FramePtr frame, size_t max_n_pts, int max_iter)
+    FramePtr frame,
+    size_t max_n_pts,
+    int max_iter)
 {
   deque<Point*> pts;
   for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it)

svo/src/frame_handler_mono.cpp

@@ -30,19 +30,16 @@
 
 namespace svo {
 
-FrameHandlerMono::
+FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam) :
-FrameHandlerMono(vk::AbstractCamera* cam) :
   FrameHandlerBase(),
   cam_(cam),
   reprojector_(cam_, map_)
 {}
 
-FrameHandlerMono::
+FrameHandlerMono::~FrameHandlerMono()
-~FrameHandlerMono()
 {}
 
-void FrameHandlerMono::
+void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp)
-addImage(const cv::Mat& img, const double timestamp)
 {
   if(!startFrameProcessingCommon(timestamp))
     return;
@@ -73,8 +70,7 @@ addImage(const cv::Mat& img, const double timestamp)
   finishFrameProcessingCommon(last_frame_->id_, res, last_frame_->nObs());
 }
 
-void FrameHandlerMono::
+void FrameHandlerMono::setFirstFrame(const FramePtr& first_frame)
-setFirstFrame(const FramePtr& first_frame)
 {
   resetAll();
   last_frame_ = first_frame;
@@ -83,8 +79,7 @@ setFirstFrame(const FramePtr& first_frame)
   stage_ = STAGE_DEFAULT_FRAME;
 }
 
-FrameHandlerMono::UpdateResult FrameHandlerMono::
+FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
-processFirstFrame()
 {
   new_frame_->T_f_w_ = T_f_w_init_;
   if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE)
@@ -96,8 +91,7 @@ processFirstFrame()
   return RESULT_IS_KEYFRAME;
 }
 
-FrameHandlerMono::UpdateResult FrameHandlerMono::
+FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
-processSecondFrame()
 {
   initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_);
   if(res == initialization::FAILURE)
@@ -123,8 +117,7 @@ processSecondFrame()
   return RESULT_IS_KEYFRAME;
 }
 
-FrameHandlerMono::UpdateResult FrameHandlerMono::
+FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
-processFrame()
 {
   // Set initial pose TODO use prior
   new_frame_->T_f_w_ = last_frame_->T_f_w_;
@@ -225,8 +218,7 @@ processFrame()
   return RESULT_IS_KEYFRAME;
 }
 
-void FrameHandlerMono::
+void FrameHandlerMono::resetAll()
-resetAll()
 {
   resetCommon();
   last_frame_.reset();
@@ -235,8 +227,7 @@ resetAll()
   overlap_kfs_.clear();
 }
 
-bool FrameHandlerMono::
+bool FrameHandlerMono::needNewKf(double scene_depth_mean)
-needNewKf(double scene_depth_mean)
 {
   for(auto it=overlap_kfs_.begin(), ite=overlap_kfs_.end(); it!=ite; ++it)
   {
@@ -249,8 +240,7 @@ needNewKf(double scene_depth_mean)
   return true;
 }
 
-void FrameHandlerMono::
+void FrameHandlerMono::setCoreKfs(size_t n_closest)
-setCoreKfs(size_t n_closest)
 {
   size_t n = min(n_closest, overlap_kfs_.size()-1);
   std::partial_sort(overlap_kfs_.begin(), overlap_kfs_.begin()+n, overlap_kfs_.end(),