static code analysis (#20)

include/small_gicp/ann/incremental_voxelmap.hpp

@@ -40,7 +40,7 @@ public:
 
   /// @brief Constructor
   /// @param leaf_size  Voxel size
-  IncrementalVoxelMap(double leaf_size) : inv_leaf_size(1.0 / leaf_size), lru_horizon(100), lru_clear_cycle(10), lru_counter(0) {}
+  explicit IncrementalVoxelMap(double leaf_size) : inv_leaf_size(1.0 / leaf_size), lru_horizon(100), lru_clear_cycle(10), lru_counter(0) {}
 
   /// @brief Number of points in the voxelmap
   size_t size() const { return flat_voxels.size(); }

include/small_gicp/ann/kdtree.hpp

@@ -23,12 +23,14 @@ public:
 
   /// @brief Constructor
   /// @param points  Input points
-  UnsafeKdTreeGeneric(const PointCloud& points) : points(points), index(3, *this, nanoflann::KDTreeSingleIndexAdaptorParams(10)) { index.buildIndex(); }
+  explicit UnsafeKdTreeGeneric(const PointCloud& points) : points(points), index(3, *this, nanoflann::KDTreeSingleIndexAdaptorParams(10)) { index.buildIndex(); }
 
   /// @brief Constructor
   /// @param points  Input points
   /// @params num_threads  Number of threads used for building the index (This argument is only valid for OMP implementation)
-  UnsafeKdTreeGeneric(const PointCloud& points, int num_threads) : points(points), index(3, *this, nanoflann::KDTreeSingleIndexAdaptorParams(10)) { index.buildIndex(num_threads); }
+  explicit UnsafeKdTreeGeneric(const PointCloud& points, int num_threads) : points(points), index(3, *this, nanoflann::KDTreeSingleIndexAdaptorParams(10)) {
+    index.buildIndex(num_threads);
+  }
 
   ~UnsafeKdTreeGeneric() {}
 
@@ -58,11 +60,11 @@ public:
 
   /// @brief Constructor
   /// @param points  Input points
-  KdTreeGeneric(const std::shared_ptr<const PointCloud>& points) : points(points), tree(*points) {}
+  explicit KdTreeGeneric(const std::shared_ptr<const PointCloud>& points) : points(points), tree(*points) {}
 
   /// @brief Constructor
   /// @param points  Input points
-  KdTreeGeneric(const std::shared_ptr<const PointCloud>& points, int num_threads) : points(points), tree(*points, num_threads) {}
+  explicit KdTreeGeneric(const std::shared_ptr<const PointCloud>& points, int num_threads) : points(points), tree(*points, num_threads) {}
 
   ~KdTreeGeneric() {}
 

include/small_gicp/benchmark/benchmark.hpp

@@ -95,7 +95,7 @@ std::string summarize(const Container& container, const Transform& transform) {
 
 struct KittiDataset {
 public:
-  KittiDataset(const std::string& dataset_path, size_t max_num_data = std::numeric_limits<size_t>::max()) {
+  explicit KittiDataset(const std::string& dataset_path, size_t max_num_data = 1000000) {
     std::vector<std::string> filenames;
     for (auto path : std::filesystem::directory_iterator(dataset_path)) {
       if (path.path().extension() != ".bin") {

include/small_gicp/factors/plane_icp_factor.hpp

@@ -41,15 +41,15 @@ struct PointToPlaneICPFactor {
     const auto& target_normal = traits::normal(target, target_index);
 
     const Eigen::Vector4d residual = traits::point(target, target_index) - transed_source_pt;
-    const Eigen::Vector4d error = target_normal.array() * residual.array();
+    const Eigen::Vector4d err = target_normal.array() * residual.array();
 
     Eigen::Matrix<double, 4, 6> J = Eigen::Matrix<double, 4, 6>::Zero();
     J.block<3, 3>(0, 0) = target_normal.template head<3>().asDiagonal() * T.linear() * skew(traits::point(source, source_index).template head<3>());
     J.block<3, 3>(0, 3) = target_normal.template head<3>().asDiagonal() * (-T.linear());
 
     *H = J.transpose() * J;
-    *b = J.transpose() * error;
+    *b = J.transpose() * err;
-    *e = 0.5 * error.squaredNorm();
+    *e = 0.5 * err.squaredNorm();
 
     return true;
   }

include/small_gicp/points/point_cloud.hpp

@@ -23,7 +23,7 @@ public:
   /// @brief Constructor
   /// @param points  Points to initialize the point cloud
   template <typename T, int D, typename Allocator>
-  PointCloud(const std::vector<Eigen::Matrix<T, D, 1>, Allocator>& points) {
+  explicit PointCloud(const std::vector<Eigen::Matrix<T, D, 1>, Allocator>& points) {
     this->resize(points.size());
     for (size_t i = 0; i < points.size(); i++) {
       this->point(i) << points[i].template cast<double>().template head<3>(), 1.0;

include/small_gicp/registration/optimizer.hpp

@@ -136,6 +136,10 @@ struct LevenbergMarquardtOptimizer {
       result.H = H;
       result.b = b;
       result.error = e;
+
+      if (!success) {
+        break;
+      }
     }
 
     result.num_inliers = std::count_if(factors.begin(), factors.end(), [](const auto& factor) { return factor.inlier(); });

include/small_gicp/util/lie.hpp

@@ -50,16 +50,14 @@ inline Eigen::Matrix3d skew(const Eigen::Vector3d& x) {
 inline Eigen::Quaterniond so3_exp(const Eigen::Vector3d& omega) {
   double theta_sq = omega.dot(omega);
 
-  double theta;
   double imag_factor;
   double real_factor;
   if (theta_sq < 1e-10) {
-    theta = 0;
     double theta_quad = theta_sq * theta_sq;
     imag_factor = 0.5 - 1.0 / 48.0 * theta_sq + 1.0 / 3840.0 * theta_quad;
     real_factor = 1.0 - 1.0 / 8.0 * theta_sq + 1.0 / 384.0 * theta_quad;
   } else {
-    theta = std::sqrt(theta_sq);
+    double theta = std::sqrt(theta_sq);
     double half_theta = 0.5 * theta;
     imag_factor = std::sin(half_theta) / theta;
     real_factor = std::cos(half_theta);

src/benchmark/odometry_benchmark_fast_gicp.cpp

@@ -14,7 +14,7 @@ namespace small_gicp {
 
 class FastGICPOdometryEstimation : public OnlineOdometryEstimation {
 public:
-  FastGICPOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
+  explicit FastGICPOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
     gicp.setCorrespondenceRandomness(params.num_neighbors);
     gicp.setMaxCorrespondenceDistance(params.max_correspondence_distance);
     gicp.setNumThreads(params.num_threads);

src/benchmark/odometry_benchmark_fast_vgicp.cpp

@@ -16,7 +16,7 @@ namespace small_gicp {
 
 class FastVGICPOdometryEstimation : public OnlineOdometryEstimation {
 public:
-  FastVGICPOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
+  explicit FastVGICPOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
     vgicp.setCorrespondenceRandomness(params.num_neighbors);
     vgicp.setResolution(params.voxel_resolution);
     vgicp.setMaxCorrespondenceDistance(params.max_correspondence_distance);

src/benchmark/odometry_benchmark_pcl.cpp

@@ -10,7 +10,7 @@ namespace small_gicp {
 
 class PCLOnlineOdometryEstimation : public OnlineOdometryEstimation {
 public:
-  PCLOnlineOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
+  explicit PCLOnlineOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
     gicp.setCorrespondenceRandomness(params.num_neighbors);
     gicp.setMaxCorrespondenceDistance(params.max_correspondence_distance);
   }

src/benchmark/odometry_benchmark_small_gicp.cpp

@@ -11,7 +11,7 @@ namespace small_gicp {
 
 class SmallGICPOnlineOdometryEstimation : public OnlineOdometryEstimation {
 public:
-  SmallGICPOnlineOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {}
+  explicit SmallGICPOnlineOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {}
 
   Eigen::Isometry3d estimate(const PointCloud::Ptr& points) override {
     Stopwatch sw;

src/benchmark/odometry_benchmark_small_gicp_model_tbb.cpp

@@ -14,7 +14,7 @@ namespace small_gicp {
 
 class SmallGICPModelOnlineOdometryEstimationTBB : public OnlineOdometryEstimation {
 public:
-  SmallGICPModelOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
+  explicit SmallGICPModelOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
   : OnlineOdometryEstimation(params),
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     T_world_lidar(Eigen::Isometry3d::Identity()) {}

src/benchmark/odometry_benchmark_small_gicp_omp.cpp

@@ -11,7 +11,7 @@ namespace small_gicp {
 
 class SmallGICPOnlineOdometryEstimationOMP : public OnlineOdometryEstimation {
 public:
-  SmallGICPOnlineOdometryEstimationOMP(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T_world_lidar(Eigen::Isometry3d::Identity()) {}
+  explicit SmallGICPOnlineOdometryEstimationOMP(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T_world_lidar(Eigen::Isometry3d::Identity()) {}
 
   Eigen::Isometry3d estimate(const PointCloud::Ptr& points) override {
     Stopwatch sw;

src/benchmark/odometry_benchmark_small_gicp_pcl.cpp

@@ -12,7 +12,7 @@ namespace small_gicp {
 
 class SmallGICPPCLOdometryEstimation : public OnlineOdometryEstimation {
 public:
-  SmallGICPPCLOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
+  explicit SmallGICPPCLOdometryEstimation(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {
     gicp.setCorrespondenceRandomness(params.num_neighbors);
     gicp.setMaxCorrespondenceDistance(params.max_correspondence_distance);
     gicp.setNumThreads(params.num_threads);

src/benchmark/odometry_benchmark_small_gicp_tbb.cpp

@@ -14,7 +14,7 @@ namespace small_gicp {
 
 class SmallGICPOnlineOdometryEstimationTBB : public OnlineOdometryEstimation {
 public:
-  SmallGICPOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
+  explicit SmallGICPOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
   : OnlineOdometryEstimation(params),
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     T(Eigen::Isometry3d::Identity()) {}

src/benchmark/odometry_benchmark_small_gicp_tbb_flow.cpp

@@ -27,7 +27,7 @@ public:
     InputFrame::Ptr source;  // Source frame
   };
 
-  SmallGICPFlowEstimationTBB(const OdometryEstimationParams& params)
+  explicit SmallGICPFlowEstimationTBB(const OdometryEstimationParams& params)
   : OdometryEstimation(params),
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     throughput(0.0) {

src/benchmark/odometry_benchmark_small_vgicp_model_tbb.cpp

@@ -14,7 +14,7 @@ namespace small_gicp {
 
 class SmallVGICPModelOnlineOdometryEstimationTBB : public OnlineOdometryEstimation {
 public:
-  SmallVGICPModelOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
+  explicit SmallVGICPModelOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
   : OnlineOdometryEstimation(params),
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     T_world_lidar(Eigen::Isometry3d::Identity()) {}

src/benchmark/odometry_benchmark_small_vgicp_omp.cpp

@@ -12,7 +12,7 @@ namespace small_gicp {
 
 class SmallVGICPOnlineOdometryEstimationOMP : public OnlineOdometryEstimation {
 public:
-  SmallVGICPOnlineOdometryEstimationOMP(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {}
+  explicit SmallVGICPOnlineOdometryEstimationOMP(const OdometryEstimationParams& params) : OnlineOdometryEstimation(params), T(Eigen::Isometry3d::Identity()) {}
 
   Eigen::Isometry3d estimate(const PointCloud::Ptr& points) override {
     Stopwatch sw;

src/benchmark/odometry_benchmark_small_vgicp_tbb.cpp

@@ -14,7 +14,7 @@ namespace small_gicp {
 
 class SmallVGICPOnlineOdometryEstimationTBB : public OnlineOdometryEstimation {
 public:
-  SmallVGICPOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
+  explicit SmallVGICPOnlineOdometryEstimationTBB(const OdometryEstimationParams& params)
   : OnlineOdometryEstimation(params),
     control(tbb::global_control::max_allowed_parallelism, params.num_threads),
     T(Eigen::Isometry3d::Identity()) {}