Add curly braces to make code more clear

PointCloudLibrary · Feb 16, 2020 · 8d68a6d · 8d68a6d
1 parent 0e452dd
commit 8d68a6d
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Showing 10 changed files with 82 additions and 0 deletions.
diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_line.hpp
@@ -102,7 +102,9 @@ pcl::SampleConsensusModelLine<PointT>::getDistancesToModel (
 {
   // Needs a valid set of model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return;
+  }
 
   distances.resize (indices_->size ());
 

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_sphere.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_normal_sphere.hpp
@@ -210,12 +210,18 @@ template <typename PointT, typename PointNT> bool
 pcl::SampleConsensusModelNormalSphere<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
 {
   if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
+  {
     return (false);
+  }
 
   if (radius_min_ != -std::numeric_limits<double>::max() && model_coefficients[3] < radius_min_)
+  {
     return (false);
+  }
   if (radius_max_ != std::numeric_limits<double>::max() && model_coefficients[3] > radius_max_)
+  {
     return (false);
+  }
 
   return (true);
 }

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_parallel_line.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_parallel_line.hpp
@@ -66,7 +66,9 @@ pcl::SampleConsensusModelParallelLine<PointT>::countWithinDistance (
 {
   // Check if the model is valid given the user constraints
   if (!isModelValid (model_coefficients))
+  {
     return (0);
+  }
 
   return (SampleConsensusModelLine<PointT>::countWithinDistance (model_coefficients, threshold));
 }
@@ -104,7 +106,9 @@ pcl::SampleConsensusModelParallelLine<PointT>::isModelValid (const Eigen::Vector
     angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
     // Check whether the current line model satisfies our angle threshold criterion with respect to the given axis
     if (angle_diff > eps_angle_)
+    {
       return (false);
+    }
   }
 
   return (true);

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_parallel_plane.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_parallel_plane.hpp
@@ -65,7 +65,9 @@ pcl::SampleConsensusModelParallelPlane<PointT>::countWithinDistance (
 {
   // Check if the model is valid given the user constraints
   if (!isModelValid (model_coefficients))
+  {
     return (0);
+  }
 
   return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
 }
@@ -90,7 +92,9 @@ template <typename PointT> bool
 pcl::SampleConsensusModelParallelPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
 {
   if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
+  {
     return (false);
+  }
 
   // Check against template, if given
   if (eps_angle_ > 0.0)
@@ -102,7 +106,9 @@ pcl::SampleConsensusModelParallelPlane<PointT>::isModelValid (const Eigen::Vecto
 
     Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);
     if (std::abs (axis.dot (coeff)) > sin_angle_)
+    {
       return  (false);
+    }
   }
 
   return (true);

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_perpendicular_plane.hpp
@@ -65,7 +65,9 @@ pcl::SampleConsensusModelPerpendicularPlane<PointT>::countWithinDistance (
 {
   // Check if the model is valid given the user constraints
   if (!isModelValid (model_coefficients))
+  {
     return (0);
+  }
 
   return (SampleConsensusModelPlane<PointT>::countWithinDistance (model_coefficients, threshold));
 }
@@ -90,7 +92,9 @@ template <typename PointT> bool
 pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::VectorXf &model_coefficients) const
 {
   if (!SampleConsensusModel<PointT>::isModelValid (model_coefficients))
+  {
     return (false);
+  }
 
   // Check against template, if given
   if (eps_angle_ > 0.0)
@@ -104,7 +108,9 @@ pcl::SampleConsensusModelPerpendicularPlane<PointT>::isModelValid (const Eigen::
     angle_diff = (std::min) (angle_diff, M_PI - angle_diff);
     // Check whether the current plane model satisfies our angle threshold criterion with respect to the given axis
     if (angle_diff > eps_angle_)
+    {
       return (false);
+    }
   }
 
   return (true);

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_plane.hpp
@@ -53,7 +53,9 @@ pcl::SampleConsensusModelPlane<PointT>::isSampleGood (const std::vector<int> &sa
 {
   // Need an extra check in case the sample selection is empty
   if (samples.empty ())
+  {
     return (false);
+  }
   // Get the values at the two points
   pcl::Array4fMapConst p0 = input_->points[samples[0]].getArray4fMap ();
   pcl::Array4fMapConst p1 = input_->points[samples[1]].getArray4fMap ();
@@ -88,7 +90,9 @@ pcl::SampleConsensusModelPlane<PointT>::computeModelCoefficients (
   // Avoid some crashes by checking for collinearity here
   Eigen::Array4f dy1dy2 = p1p0 / p2p0;
   if ( (dy1dy2[0] == dy1dy2[1]) && (dy1dy2[2] == dy1dy2[1]) )          // Check for collinearity
+  {
     return (false);
+  }
 
   // Compute the plane coefficients from the 3 given points in a straightforward manner
   // calculate the plane normal n = (p2-p1) x (p3-p1) = cross (p2-p1, p3-p1)
@@ -202,7 +206,9 @@ pcl::SampleConsensusModelPlane<PointT>::countWithinDistance (
                         input_->points[(*indices_)[i]].z,
                         1);
     if (std::abs (model_coefficients.dot (pt)) < threshold)
+    {
       nr_p++;
+    }
   }
   return (nr_p);
 }
@@ -320,8 +326,10 @@ pcl::SampleConsensusModelPlane<PointT>::projectPoints (
     using FieldList = typename pcl::traits::fieldList<PointT>::type;
     // Iterate over each point
     for (std::size_t i = 0; i < inliers.size (); ++i)
+    {
       // Iterate over each dimension
       pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (input_->points[inliers[i]], projected_points.points[i]));
+    }
 
     // Iterate through the 3d points and calculate the distances from them to the plane
     for (std::size_t i = 0; i < inliers.size (); ++i)
@@ -359,7 +367,9 @@ pcl::SampleConsensusModelPlane<PointT>::doSamplesVerifyModel (
                         input_->points[index].z,
                         1);
     if (std::abs (model_coefficients.dot (pt)) > threshold)
+    {
       return (false);
+    }
   }
 
   return (true);

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration.hpp
@@ -73,11 +73,15 @@ pcl::SampleConsensusModelRegistration<PointT>::computeModelCoefficients (const s
   }
   // Need 3 samples
   if (samples.size () != 3)
+  {
     return (false);
+  }
 
   std::vector<int> indices_tgt (3);
   for (int i = 0; i < 3; ++i)
+  {
     indices_tgt[i] = correspondences_.at (samples[i]);
+  }
 
   estimateRigidTransformationSVD (*input_, samples, *target_, indices_tgt, model_coefficients);
   return (true);
@@ -208,7 +212,9 @@ pcl::SampleConsensusModelRegistration<PointT>::countWithinDistance (
 
   // Check if the model is valid given the user constraints
   if (!isModelValid (model_coefficients))
+  {
     return (0);
+  }
 
   Eigen::Matrix4f transform;
   transform.row (0).matrix () = model_coefficients.segment<4>(0);

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration_2d.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_registration_2d.hpp
@@ -98,7 +98,9 @@ pcl::SampleConsensusModelRegistration2D<PointT>::getDistancesToModel (const Eige
     Eigen::Vector3f uv (projection_matrix_ * p_tr3);
 
     if (uv[2] < 0)
+    {
       continue;
+    }
 
     uv /= uv[2];
 
@@ -212,7 +214,9 @@ pcl::SampleConsensusModelRegistration2D<PointT>::countWithinDistance (
     Eigen::Vector3f uv (projection_matrix_ * p_tr3);
 
     if (uv[2] < 0)
+    {
       continue;
+    }
 
     uv /= uv[2];
 
@@ -221,7 +225,9 @@ pcl::SampleConsensusModelRegistration2D<PointT>::countWithinDistance (
          (uv[0] - target_->points[(*indices_tgt_)[i]].u) +
          (uv[1] - target_->points[(*indices_tgt_)[i]].v) *
          (uv[1] - target_->points[(*indices_tgt_)[i]].v)) < thresh)
+    {
       ++nr_p;
+    }
   }
   return (nr_p);
 } 

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_sphere.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_sphere.hpp
@@ -73,12 +73,16 @@ pcl::SampleConsensusModelSphere<PointT>::computeModelCoefficients (
   }
   float m11 = temp.determinant ();
   if (m11 == 0)
+  {
     return (false);             // the points don't define a sphere!
+  }
 
   for (int i = 0; i < 4; ++i)
+  {
     temp (i, 0) = (input_->points[samples[i]].x) * (input_->points[samples[i]].x) +
                   (input_->points[samples[i]].y) * (input_->points[samples[i]].y) +
                   (input_->points[samples[i]].z) * (input_->points[samples[i]].z);
+  }
   float m12 = temp.determinant ();
 
   for (int i = 0; i < 4; ++i)
@@ -132,6 +136,7 @@ pcl::SampleConsensusModelSphere<PointT>::getDistancesToModel (
 
   // Iterate through the 3d points and calculate the distances from them to the sphere
   for (std::size_t i = 0; i < indices_->size (); ++i)
+  {
     // Calculate the distance from the point to the sphere as the difference between
     //dist(point,sphere_origin) and sphere_radius
     distances[i] = std::abs (std::sqrt (
@@ -144,6 +149,7 @@ pcl::SampleConsensusModelSphere<PointT>::getDistancesToModel (
                                ( input_->points[(*indices_)[i]].z - model_coefficients[2] ) *
                                ( input_->points[(*indices_)[i]].z - model_coefficients[2] )
                                ) - model_coefficients[3]);
+  }
 }
 
 //////////////////////////////////////////////////////////////////////////
@@ -287,6 +293,7 @@ pcl::SampleConsensusModelSphere<PointT>::doSamplesVerifyModel (
   }
 
   for (const int &index : indices)
+  {
     // Calculate the distance from the point to the sphere as the difference between
     //dist(point,sphere_origin) and sphere_radius
     if (std::abs (sqrt (
@@ -297,7 +304,10 @@ pcl::SampleConsensusModelSphere<PointT>::doSamplesVerifyModel (
                     ( input_->points[index].z - model_coefficients[2] ) *
                     ( input_->points[index].z - model_coefficients[2] )
                    ) - model_coefficients[3]) > threshold)
+    {
       return (false);
+    }
+  }
 
   return (true);
 }

diff --git a/sample_consensus/include/pcl/sample_consensus/impl/sac_model_stick.hpp b/sample_consensus/include/pcl/sample_consensus/impl/sac_model_stick.hpp
@@ -55,7 +55,9 @@ pcl::SampleConsensusModelStick<PointT>::isSampleGood (const std::vector<int> &sa
       (input_->points[samples[0]].y != input_->points[samples[1]].y)
     &&
       (input_->points[samples[0]].z != input_->points[samples[1]].z))
+  {
     return (true);
+  }
 
   return (false);
 }
@@ -98,7 +100,9 @@ pcl::SampleConsensusModelStick<PointT>::getDistancesToModel (
 {
   // Needs a valid set of model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return;
+  }
 
   float sqr_threshold = static_cast<float> (radius_max_ * radius_max_);
   distances.resize (indices_->size ());
@@ -116,11 +120,15 @@ pcl::SampleConsensusModelStick<PointT>::getDistancesToModel (
     float sqr_distance = (line_pt - input_->points[(*indices_)[i]].getVector4fMap ()).cross3 (line_dir).squaredNorm ();
 
     if (sqr_distance < sqr_threshold)
+    {
       // Need to estimate sqrt here to keep MSAC and friends general
       distances[i] = sqrt (sqr_distance);
+    }
     else
+    {
       // Penalize outliers by doubling the distance
       distances[i] = 2 * sqrt (sqr_distance);
+    }
   }
 }
 
@@ -131,7 +139,9 @@ pcl::SampleConsensusModelStick<PointT>::selectWithinDistance (
 {
   // Needs a valid set of model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return;
+  }
 
   float sqr_threshold = static_cast<float> (threshold * threshold);
 
@@ -180,7 +190,9 @@ pcl::SampleConsensusModelStick<PointT>::countWithinDistance (
 {
   // Needs a valid set of model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return (0);
+  }
 
   float sqr_threshold = static_cast<float> (threshold * threshold);
 
@@ -210,9 +222,13 @@ pcl::SampleConsensusModelStick<PointT>::countWithinDistance (
     float sqr_distance = dir.cross3 (line_dir).squaredNorm ();
     // Use a larger threshold (4 times the radius) to get more points in
     if (sqr_distance < sqr_threshold)
+    {
       nr_i++;
+    }
     else if (sqr_distance < 4 * sqr_threshold)
+    {
       nr_o++;
+    }
   }
 
   return (nr_i <= nr_o ? 0 : nr_i - nr_o);
@@ -266,7 +282,9 @@ pcl::SampleConsensusModelStick<PointT>::projectPoints (
 {
   // Needs a valid model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return;
+  }
 
   // Obtain the line point and direction
   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
@@ -286,8 +304,10 @@ pcl::SampleConsensusModelStick<PointT>::projectPoints (
     using FieldList = typename pcl::traits::fieldList<PointT>::type;
     // Iterate over each point
     for (std::size_t i = 0; i < projected_points.points.size (); ++i)
+    {
       // Iterate over each dimension
       pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (input_->points[i], projected_points.points[i]));
+    }
 
     // Iterate through the 3d points and calculate the distances from them to the line
     for (const int &inlier : inliers)
@@ -313,8 +333,10 @@ pcl::SampleConsensusModelStick<PointT>::projectPoints (
     using FieldList = typename pcl::traits::fieldList<PointT>::type;
     // Iterate over each point
     for (std::size_t i = 0; i < inliers.size (); ++i)
+    {
       // Iterate over each dimension
       pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (input_->points[inliers[i]], projected_points.points[i]));
+    }
 
     // Iterate through the 3d points and calculate the distances from them to the line
     for (std::size_t i = 0; i < inliers.size (); ++i)
@@ -339,7 +361,9 @@ pcl::SampleConsensusModelStick<PointT>::doSamplesVerifyModel (
 {
   // Needs a valid set of model coefficients
   if (!isModelValid (model_coefficients))
+  {
     return (false);
+  }
 
   // Obtain the line point and direction
   Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);
@@ -354,7 +378,9 @@ pcl::SampleConsensusModelStick<PointT>::doSamplesVerifyModel (
     // Calculate the distance from the point to the line
     // D = ||(P2-P1) x (P1-P0)|| / ||P2-P1|| = norm (cross (p2-p1, p2-p0)) / norm(p2-p1)
     if ((line_pt - input_->points[index].getVector4fMap ()).cross3 (line_dir).squaredNorm () > sqr_threshold)
+    {
       return (false);
+    }
   }
 
   return (true);
-Original file line number
+Diff line change
@@ Expand Up @@
     {
       // Needs a valid set of model coefficients
       if (!isModelValid (model_coefficients))
+      {
         return;
+      }
       distances.resize (indices_->size ());
@@ Expand Down @@