improve visualizer to match ROS2 coding style

object_analytics_node/include/object_analytics_node/tracker/trackerKCF.hpp

@@ -231,7 +231,7 @@ class TrackerKCFImpl
   cv::Mat hann;
   // 10 dimensional hann-window filter for CN features
   cv::Mat hann_cn;
-  
+
   // training response and its FFT
   cv::Mat y, yf;
   // observation and its FFT

object_analytics_node/src/visualizer/control/control.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__CONTROL__CONTROL_HPP_
+#define VISUALIZER__CONTROL__CONTROL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -66,3 +67,4 @@ class Control
   View::Ptr DataView_ = nullptr;
   stream_device::Ptr StreamDev_ = nullptr;
 };
+#endif  // VISUALIZER__CONTROL__CONTROL_HPP_

object_analytics_node/src/visualizer/control/control_ds.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__CONTROL__CONTROL_DS_HPP_
+#define VISUALIZER__CONTROL__CONTROL_DS_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -71,3 +72,4 @@ class ControlDS : public Control
   bool PauseMode_ = true;
   bool InitialScreen_ = true;
 };
+#endif  // VISUALIZER__CONTROL__CONTROL_DS_HPP_

object_analytics_node/src/visualizer/data/dataset/track_dataset.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_
-#define OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_
+#ifndef VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_
+#define VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_
 
 #include <omp.h>
 #include <sys/stat.h>
@@ -205,5 +205,4 @@ class imgMTDataset : public trDataset
 };
 
 }  // namespace datasets
-
-#endif  // OBJECT_ANALYTICS_NODE__DATASET__TRACK_DATASET_HPP_ _
+#endif  // VISUALIZER__DATA__DATASET__TRACK_DATASET_HPP_

object_analytics_node/src/visualizer/data/dataset/trimg_dataset.cpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "track_dataset.hpp"
-
 #include <omp.h>
 #include <opencv2/highgui.hpp>
 
 #include <string>
 #include <vector>
 #include <fstream>
 
+#include "track_dataset.hpp"
+
 namespace datasets
 {
 void imgDataset::load(const std::string & rootPath)

object_analytics_node/src/visualizer/data/frame.hpp

@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__FRAME_HPP_
+#define VISUALIZER__DATA__FRAME_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,16 +31,14 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 #include "object.hpp"
 
 class sFrame
 {
 public:
   sFrame() {}
-  sFrame(cv::Mat & cv_frame);
+  explicit sFrame(cv::Mat & cv_frame);
   sFrame(cv::Mat & cv_frame, struct timespec st);
 
   virtual ~sFrame() = default;
@@ -66,3 +67,4 @@ class sFrame
   cv::Mat frame;
   struct timespec stamp;
 };
+#endif  // VISUALIZER__DATA__FRAME_HPP_

object_analytics_node/src/visualizer/data/frame_obj.hpp

@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__FRAME_OBJ_HPP_
+#define VISUALIZER__DATA__FRAME_OBJ_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,8 +31,6 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 #include "utility.hpp"
 #include "frame.hpp"
 
@@ -61,3 +62,4 @@ class FrameObjs : public sFrame
   std::vector<Object> dets;
   std::vector<Object> tracks;
 };
+#endif  // VISUALIZER__DATA__FRAME_OBJ_HPP_

object_analytics_node/src/visualizer/data/object.hpp

@@ -12,7 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DATA__OBJECT_HPP_
+#define VISUALIZER__DATA__OBJECT_HPP_
+
+#include <opencv2/opencv.hpp>
 
 #include <atomic>
 #include <chrono>
@@ -28,8 +31,6 @@
 #include <thread>
 #include <vector>
 
-#include <opencv2/opencv.hpp>
-
 class Object
 {
 public:
@@ -44,3 +45,4 @@ class Object
   cv::Mat Mean_;
   cv::Mat Covariance_;
 };
+#endif  // VISUALIZER__DATA__OBJECT_HPP_

object_analytics_node/src/visualizer/device/stream_cap.cpp

@@ -25,7 +25,7 @@ bool stream_cap::init_stream(int stream_name)
 {
   TRACE_INFO();
 
-  //	stream_name_ =  stream_name;
+  // stream_name_ =  stream_name;
   cap_ = std::make_shared<cv::VideoCapture>(stream_name);
 
   if (cap_->isOpened()) {return true;}
@@ -37,7 +37,7 @@ bool stream_cap::init_stream(std::string & stream_name)
 {
   TRACE_INFO();
 
-  //	stream_name_ =  stream_name;
+  // stream_name_ =  stream_name;
   cap_ = std::make_shared<cv::VideoCapture>(stream_name, cv::CAP_FFMPEG);
 
   if (cap_->isOpened()) {return true;}

object_analytics_node/src/visualizer/device/stream_cap.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_CAP_HPP_
+#define VISUALIZER__DEVICE__STREAM_CAP_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -55,3 +56,4 @@ class stream_cap : public stream_device
 protected:
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_CAP_HPP_

object_analytics_node/src/visualizer/device/stream_device.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_DEVICE_HPP_
+#define VISUALIZER__DEVICE__STREAM_DEVICE_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -125,3 +126,4 @@ class stream_device
 private:
   bool initialized_ = false;
 };
+#endif  // VISUALIZER__DEVICE__STREAM_DEVICE_HPP_

object_analytics_node/src/visualizer/device/stream_ds.cpp

@@ -15,7 +15,7 @@
 #include "stream_ds.hpp"
 
 #include <string>
-#include <momery>
+#include <memory>
 
 #include "frame_obj.hpp"
 #include "object.hpp"

object_analytics_node/src/visualizer/device/stream_ds.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_DS_HPP_
+#define VISUALIZER__DEVICE__STREAM_DS_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -64,3 +65,4 @@ class stream_ds : public stream_device
 
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_DS_HPP_

object_analytics_node/src/visualizer/device/stream_render.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_RENDER_HPP_
+#define VISUALIZER__DEVICE__STREAM_RENDER_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -53,3 +54,4 @@ class stream_render
 
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_RENDER_HPP_

object_analytics_node/src/visualizer/device/stream_vid.cpp

@@ -15,7 +15,7 @@
 #include "stream_vid.hpp"
 
 #include <string>
-#include <momery>
+#include <memory>
 
 stream_vid::stream_vid() {TRACE_INFO();}
 

object_analytics_node/src/visualizer/device/stream_vid.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__DEVICE__STREAM_VID_HPP_
+#define VISUALIZER__DEVICE__STREAM_VID_HPP_
 
 #include <opencv2/opencv.hpp>
 
@@ -23,6 +24,7 @@
 #include <random>
 #include <string>
 #include <vector>
+#include <memory>
 
 #include "stream_device.hpp"
 
@@ -60,3 +62,4 @@ class stream_vid : public stream_device
 protected:
 private:
 };
+#endif  // VISUALIZER__DEVICE__STREAM_VID_HPP_

object_analytics_node/src/visualizer/model/math_model.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__MATH_MODEL_HPP_
+#define VISUALIZER__MODEL__MATH_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -45,3 +46,4 @@ class MathModel
 public:
   std::string InstName_ = "";
 };
+#endif  // VISUALIZER__MODEL__MATH_MODEL_HPP_

object_analytics_node/src/visualizer/model/math_sample.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__MATH_SAMPLE_HPP_
+#define VISUALIZER__MODEL__MATH_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -85,3 +86,4 @@ class MathSample
 
   uint32_t Counts_ = 0;
 };
+#endif  // VISUALIZER__MODEL__MATH_SAMPLE_HPP_

object_analytics_node/src/visualizer/model/sample/rw_sample.cpp

@@ -64,7 +64,7 @@ bool RWSample::GenSamples()
         res_dec = Evaluator_Proc_(seed_dec);
       }
 
-      double uni_rand = rng.uniform((double)0, res_inc + res_dec);
+      double uni_rand = rng.uniform(0.0f, res_inc + res_dec);
       if (uni_rand <= (res_inc)) {
         seed = seed_inc.clone();
         res = res_inc;

object_analytics_node/src/visualizer/model/sample/rw_sample.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_
+#define VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -56,3 +57,4 @@ class RWSample : public SampleModel
    */
   virtual bool FetchSamples(cv::Mat & samples);
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__RW_SAMPLE_HPP_

object_analytics_node/src/visualizer/model/sample/sample_model.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_
+#define VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -100,3 +101,4 @@ class SampleModel
    */
   CBPtr Evaluator_Proc_ = nullptr;
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__SAMPLE_MODEL_HPP_

object_analytics_node/src/visualizer/model/sample/uniform_sample.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_
+#define VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -60,5 +61,5 @@ class UniformSample : public SampleModel
    * @brief Fetch samples
    */
   virtual bool FetchSamples(cv::Mat & samples);
-
 };
+#endif  // VISUALIZER__MODEL__SAMPLE__UNIFORM_SAMPLE_HPP_

object_analytics_node/src/visualizer/model/stat/gaussian_model.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_
+#define VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -52,3 +53,4 @@ class GaussianModel : public StatModel
 
 public:
 };
+#endif  // VISUALIZER__MODEL__STAT__GAUSSIAN_MODEL_HPP_

object_analytics_node/src/visualizer/model/stat/stat_model.hpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_
+#define VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_
 
 #include <stdio.h>
 #include <unistd.h>
@@ -70,5 +71,5 @@ class StatModel : public MathModel
   cv::Mat Covariance_;
   cv::Mat InvCovariance_;
   int Dimension_ = 2;
-
 };
+#endif  // VISUALIZER__MODEL__STAT__STAT_MODEL_HPP_