Add missing qualifiers and move GL includes to cpp

apps/lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp

@@ -5,8 +5,6 @@
 
 #include <ImGuizmo.h>
 
-// #define GLEW_STATIC
-// #include <GL/glew.h>
 #include <GL/freeglut.h>
 #include <portable-file-dialogs.h>
 

apps/lidar_odometry_step_1/lidar_odometry_gui.cpp

@@ -5,8 +5,6 @@
 
 #include <ImGuizmo.h>
 
-// #define GLEW_STATIC
-// #include <GL/glew.h>
 #include <GL/freeglut.h>
 #include <portable-file-dialogs.h>
 

apps/lidar_odometry_step_1/lidar_odometry_utils_optimizers.cpp

@@ -1,6 +1,5 @@
 #include "lidar_odometry_utils.h"
 #include <UTL/profiler.hpp>
-#include <imu_preintegration.h>
 #include <spdlog/spdlog.h>
 #include <spdlog/stopwatch.h>
 #include <tbb/combinable.h>
@@ -9,6 +8,7 @@
 
 #include <Core/export_laz.h>
 #include <Core/hash_utils.h>
+#include <Core/imu_preintegration.h>
 
 const double DEG_TO_RAD = M_PI / 180.0f;
 const double RAD_TO_DEG = 180.0f / M_PI;

apps/mandeye_mission_recorder_calibration/mandeye_mission_recorder_calibration.cpp

@@ -7,8 +7,6 @@
 
 #include <ImGuizmo.h>
 
-// #define GLEW_STATIC
-// #include <GL/glew.h>
 #include <glm/glm.hpp>
 #include <glm/gtc/matrix_transform.hpp>
 

apps/multi_session_registration/multi_session_registration.cpp

@@ -8,8 +8,6 @@
 
 #include <ImGuizmo.h>
 
-// #define GLEW_STATIC
-// #include <GL/glew.h>
 #include <GL/freeglut.h>
 #include <glm/glm.hpp>
 #include <glm/gtc/matrix_transform.hpp>

core/include/Core/control_points.h

@@ -4,9 +4,6 @@
 
 #include <string>
 #include <vector>
-#if WITH_GUI == 1
-#include <GL/freeglut.h>
-#endif
 
 struct ControlPoint
 {
@@ -27,32 +24,22 @@ struct ControlPoint
 class ControlPoints
 {
 public:
-    ControlPoints()
-    {
-        ;
-    };
-    ~ControlPoints()
-    {
-        ;
-    };
+    ControlPoints() = default;
+    ~ControlPoints() = default;
 
     bool is_imgui = false;
     std::vector<ControlPoint> cps;
+
 #if WITH_GUI == 1
     bool picking_mode = false;
-    // int picking_mode_index_to_node_inner = -1;
-    // int picking_mode_index_to_node_outer = -1;
     bool draw_uncertainty = false;
     int index_picked_point = -1;
     bool track_pose_with_camera = true;
 
     int index_pose = 0;
 
-    // bool found_picked = false;
-    // ControlPoint picked_control_point;
-
-    void imgui(PointClouds& point_clouds_container, Eigen::Vector3f& rotation_center);
+    void imgui(PointClouds& point_clouds_container, const Eigen::Vector3f& rotation_center);
     void render(const PointClouds& point_clouds_container, bool show_pc);
-    void draw_ellipse(const Eigen::Matrix3d& covar, Eigen::Vector3d& mean, Eigen::Vector3f color, float nstd = 1);
+    void draw_ellipse(const Eigen::Matrix3d& covar, const Eigen::Vector3d& mean, const Eigen::Vector3f& color, float nstd = 1);
 #endif
 };

core/include/Core/ground_control_points.h

@@ -5,10 +5,6 @@
 #include <string>
 #include <vector>
 
-#if WITH_GUI == 1
-#include <GL/freeglut.h>
-#endif
-
 struct GroundControlPoint
 {
     char name[64];
@@ -26,14 +22,8 @@ struct GroundControlPoint
 class GroundControlPoints
 {
 public:
-    GroundControlPoints()
-    {
-        ;
-    };
-    ~GroundControlPoints()
-    {
-        ;
-    };
+    GroundControlPoints() = default;
+    ~GroundControlPoints() = default;
 
     std::vector<GroundControlPoint> gpcs;
     double default_lidar_height_above_ground = 0.15;
@@ -46,6 +36,6 @@ class GroundControlPoints
 
     void imgui(PointClouds& point_clouds_container);
     void render(const PointClouds& point_clouds_container);
-    void draw_ellipse(const Eigen::Matrix3d& covar, Eigen::Vector3d& mean, Eigen::Vector3f color, float nstd = 1);
+    void draw_ellipse(const Eigen::Matrix3d& covar, const Eigen::Vector3d& mean, const Eigen::Vector3f& color, float nstd = 1);
 #endif
 };

core/include/Core/manual_pose_graph_loop_closure.h

@@ -1,11 +1,6 @@
 #pragma once
 
 #if WITH_GUI == 1
-
-#include <GL/freeglut.h>
-
-#include <imgui.h>
-
 #include <Core/gnss.h>
 #include <Core/observation_picking.h>
 #include <Core/point_clouds.h>

core/include/Core/observation_picking.h

@@ -4,8 +4,6 @@
 #include <Core/transformations.h>
 
 #include <Eigen/Eigen>
-#include <GL/freeglut.h>
-#include <imgui.h>
 #include <map>
 #include <nlohmann/json.hpp>
 
@@ -31,96 +29,7 @@ class Intersection
     float width_length_height[3];
     std::vector<PointInsideIntersection> points;
 
-    void render()
-    {
-        TaitBryanPose pose;
-        pose.px = translation[0];
-        pose.py = translation[1];
-        pose.pz = translation[2];
-        pose.om = rotation[0];
-        pose.fi = rotation[1];
-        pose.ka = rotation[2];
-        Eigen::Affine3d m_pose = affine_matrix_from_pose_tait_bryan(pose);
-
-        float& x_length = width_length_height[0];
-        float& y_width = width_length_height[1];
-        float& z_height = width_length_height[2];
-
-        glColor3f(color[0], color[1], color[2]);
-
-        Eigen::Vector3d v000(-x_length * 0.5, -y_width * 0.5, -z_height * 0.5);
-        Eigen::Vector3d v100(x_length * 0.5, -y_width * 0.5, -z_height * 0.5);
-        Eigen::Vector3d v110(x_length * 0.5, y_width * 0.5, -z_height * 0.5);
-        Eigen::Vector3d v010(-x_length * 0.5, y_width * 0.5, -z_height * 0.5);
-
-        Eigen::Vector3d v001(-x_length * 0.5, -y_width * 0.5, z_height * 0.5);
-        Eigen::Vector3d v101(x_length * 0.5, -y_width * 0.5, z_height * 0.5);
-        Eigen::Vector3d v111(x_length * 0.5, y_width * 0.5, z_height * 0.5);
-        Eigen::Vector3d v011(-x_length * 0.5, y_width * 0.5, z_height * 0.5);
-
-        Eigen::Vector3d v000t = m_pose * v000;
-        Eigen::Vector3d v100t = m_pose * v100;
-        Eigen::Vector3d v110t = m_pose * v110;
-        Eigen::Vector3d v010t = m_pose * v010;
-
-        Eigen::Vector3d v001t = m_pose * v001;
-        Eigen::Vector3d v101t = m_pose * v101;
-        Eigen::Vector3d v111t = m_pose * v111;
-        Eigen::Vector3d v011t = m_pose * v011;
-
-        glBegin(GL_LINES);
-
-        glVertex3d(v000t.x(), v000t.y(), v000t.z());
-        glVertex3d(v100t.x(), v100t.y(), v100t.z());
-
-        glVertex3d(v100t.x(), v100t.y(), v100t.z());
-        glVertex3d(v110t.x(), v110t.y(), v110t.z());
-
-        glVertex3d(v110t.x(), v110t.y(), v110t.z());
-        glVertex3d(v010t.x(), v010t.y(), v010t.z());
-
-        glVertex3d(v010t.x(), v010t.y(), v010t.z());
-        glVertex3d(v000t.x(), v000t.y(), v000t.z());
-
-        glVertex3d(v001t.x(), v001t.y(), v001t.z());
-        glVertex3d(v101t.x(), v101t.y(), v101t.z());
-
-        glVertex3d(v101t.x(), v101t.y(), v101t.z());
-        glVertex3d(v111t.x(), v111t.y(), v111t.z());
-
-        glVertex3d(v111t.x(), v111t.y(), v111t.z());
-        glVertex3d(v011t.x(), v011t.y(), v011t.z());
-
-        glVertex3d(v011t.x(), v011t.y(), v011t.z());
-        glVertex3d(v001t.x(), v001t.y(), v001t.z());
-
-        glVertex3d(v000t.x(), v000t.y(), v000t.z());
-        glVertex3d(v001t.x(), v001t.y(), v001t.z());
-
-        glVertex3d(v100t.x(), v100t.y(), v100t.z());
-        glVertex3d(v101t.x(), v101t.y(), v101t.z());
-
-        glVertex3d(v110t.x(), v110t.y(), v110t.z());
-        glVertex3d(v111t.x(), v111t.y(), v111t.z());
-
-        glVertex3d(v010t.x(), v010t.y(), v010t.z());
-        glVertex3d(v011t.x(), v011t.y(), v011t.z());
-
-        //
-        glVertex3d(v000t.x(), v000t.y(), v000t.z());
-        glVertex3d(v110t.x(), v110t.y(), v110t.z());
-
-        glVertex3d(v010t.x(), v010t.y(), v010t.z());
-        glVertex3d(v100t.x(), v100t.y(), v100t.z());
-
-        glVertex3d(v001t.x(), v001t.y(), v001t.z());
-        glVertex3d(v111t.x(), v111t.y(), v111t.z());
-
-        glVertex3d(v011t.x(), v011t.y(), v011t.z());
-        glVertex3d(v101t.x(), v101t.y(), v101t.z());
-
-        glEnd();
-    }
+    void render();
 };
 
 class ObservationPicking
@@ -144,7 +53,7 @@ class ObservationPicking
     void accept_current_observation(const std::vector<Eigen::Affine3d>& m_poses);
     void import_observations(const std::string& filename);
     void export_observation(const std::string& filename);
-    void add_intersection(Eigen::Vector3d translation);
+    void add_intersection(const Eigen::Vector3d& translation);
 
     std::map<int, Eigen::Vector3d> current_observation;
     std::vector<std::map<int, Eigen::Vector3d>> observations;

core/include/Core/point_cloud.h

@@ -9,7 +9,6 @@
 
 #if WITH_GUI == 1
 #include <Core/observation_picking.h>
-#include <GL/freeglut.h>
 #endif
 
 class PointCloud
@@ -148,12 +147,6 @@ class PointCloud
     void decimate(double bucket_x, double bucket_y, double bucket_z);
     void shift_to_center();
 #if WITH_GUI == 1
-    // void render(bool show_with_initial_pose, const ObservationPicking &observation_picking, int viewer_decmiate_point_cloud,
-    //			bool xz_intersection, bool yz_intersection, bool xy_intersection,
-    //			bool xz_grid_10x10, bool xz_grid_1x1, bool xz_grid_01x01,
-    //			bool yz_grid_10x10, bool yz_grid_1x1, bool yz_grid_01x01,
-    //			bool xy_grid_10x10, bool xy_grid_1x1, bool xy_grid_01x01,
-    //			double intersection_width);
     void render(
         bool show_with_initial_pose,
         const ObservationPicking& observation_picking,

core/include/Core/registration_plane_feature.h

@@ -24,21 +24,25 @@ class RegistrationPlaneFeature
 
     struct Plane
     {
+        double a = {};
+        double b = {};
+        double c = {};
+        double d = {};
+
         Plane()
+            : a(0.0)
+            , b(0.0)
+            , c(0.0)
+            , d(0.0)
         {
-            a = b = c = d = 0.0;
         }
-        double a;
-        double b;
-        double c;
-        double d;
 
-        Plane(Eigen::Vector3d p, Eigen::Vector3d nv)
+        Plane(const Eigen::Vector3d& p, const Eigen::Vector3d& nv)
+            : a(nv.x())
+            , b(nv.y())
+            , c(nv.z())
+            , d(-a * p.x() - b * p.y() - c * p.z())
         {
-            a = nv.x();
-            b = nv.y();
-            c = nv.z();
-            d = -a * p.x() - b * p.y() - c * p.z();
         }
     };
 

core/include/Core/structures.h

@@ -172,43 +172,6 @@ bool save_vector_data(const std::string& file_name, const std::vector<T>& out)
     }
 }
 
-/*template<typename T>
-inline bool load_vector_data(const std::string& file_name, std::vector<T>& vector_data) {
-        std::basic_ifstream<char> vd_str(file_name, std::ios::binary);
-        if (!vd_str.good()) {
-                return false;
-        }
-        std::vector<char> data((std::istreambuf_iterator<char>(vd_str)), std::istreambuf_iterator<char>());
-        std::vector<T> v(data.size() / sizeof(T));
-        memcpy(v.data(), data.data(), data.size());
-        vector_data = v;
-        return true;
-}*/
-
-/*template<typename T>
-bool load_vector_data(const std::string& file_name, std::vector<T>& out)
-{
-        //static_assert(std::is_trivially_copyable_v<T>,
-        //	"T must be trivially copyable");
-
-        std::ifstream file(file_name, std::ios::binary | std::ios::ate);
-        if (!file)
-                return false;
-
-        const std::streamsize size = file.tellg();
-        if (size < 0 || size % sizeof(T) != 0)
-                return false;
-
-        const size_t count = size / sizeof(T);
-        out.resize(count);
-
-        file.seekg(0, std::ios::beg);
-        if (!file.read(reinterpret_cast<char*>(out.data()), size))
-                return false;
-
-        return true;
-}*/
-
 template<typename T>
 bool load_vector_data(const std::string& file_name, std::vector<T>& out)
 {
@@ -264,21 +227,25 @@ struct LaserBeam
 
 struct Plane
 {
+    double a = {};
+    double b = {};
+    double c = {};
+    double d = {};
+
     Plane()
+        : a(0.0)
+        , b(0.0)
+        , c(0.0)
+        , d(0.0)
     {
-        a = b = c = d = 0.0;
     }
-    double a;
-    double b;
-    double c;
-    double d;
 
-    Plane(Eigen::Vector3d p, Eigen::Vector3d nv)
+    Plane(const Eigen::Vector3d& p, const Eigen::Vector3d& nv)
+        : a(nv.x())
+        , b(nv.y())
+        , c(nv.z())
+        , d(-a * p.x() - b * p.y() - c * p.z())
     {
-        a = nv.x();
-        b = nv.y();
-        c = nv.z();
-        d = -a * p.x() - b * p.y() - c * p.z();
     }
 };