Do not allow short if statements on single line (#201)

.clang-format

@@ -5,7 +5,7 @@ ConstructorInitializerIndentWidth: 2
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
 AllowAllParametersOfDeclarationOnNextLine: false
-AllowShortIfStatementsOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: true
 AlwaysBreakTemplateDeclarations: true

analysis/src/statistics.cpp

@@ -45,7 +45,8 @@ Eigen::Quaterniond computeQuaternionMean(const std::vector<Eigen::Quaterniond>&
   Eigen::Quaterniond q;
   q.coeffs() << svd.matrixU().col(0);
 
-  if (q.coeffs().array().hasNaN()) throw ICalException("Mean quaternion has NaN values");
+  if (q.coeffs().array().hasNaN())
+    throw ICalException("Mean quaternion has NaN values");
 
   return q;
 };

core/include/industrial_calibration/core/target_finder.h

@@ -94,7 +94,8 @@ class TargetFinder
   typename Correspondence<SENSOR_DIM, WORLD_DIM>::Set findCorrespondences(const SensorDataT& measurement) const
   {
     TargetFeatures<SENSOR_DIM> features = findTargetFeatures(measurement);
-    if (features.empty()) throw std::runtime_error("Failed to find any target features");
+    if (features.empty())
+      throw std::runtime_error("Failed to find any target features");
 
     return target().createCorrespondences(findTargetFeatures(measurement));
   }

examples/noise_qualification_2d.cpp

@@ -62,7 +62,8 @@ PnPNoiseStat run(const path& calibration_file)
     try
     {
       target_features = target_finder->findTargetFeatures(image);
-      if (target_features.empty()) throw std::runtime_error("Failed to find any target features");
+      if (target_features.empty())
+        throw std::runtime_error("Failed to find any target features");
       std::cout << "Found " << target_features.size() << " target features" << std::endl;
 
 #ifndef INDUSTRIAL_CALIBRATION_ENABLE_TESTING

gui/src/app/camera_intrinsic_calibration_app.cpp

@@ -32,7 +32,8 @@ int main(int argc, char** argv)
       w.loadObservations(argv[2]);
       w.calibrate();
       w.saveResults(argv[3]);
-      if (argc > 4) w.saveROSFormat(argv[4]);
+      if (argc > 4)
+        w.saveROSFormat(argv[4]);
 
       QMessageBox::StandardButton ret = QMessageBox::question(nullptr, "Calibration",
                                                               "Successfully completed calibration and saved results. "
@@ -69,7 +70,8 @@ int main(int argc, char** argv)
         w.loadConfig(argv[1]);
         QMessageBox::information(nullptr, "Configuration", "Successfully loaded calibration configuration");
       }
-      if (argc > 2) w.loadObservations(argv[2]);
+      if (argc > 2)
+        w.loadObservations(argv[2]);
     }
     catch (const std::exception& ex)
     {

gui/src/app/extrinsic_hand_eye_calibration_app.cpp

@@ -63,7 +63,8 @@ int main(int argc, char** argv)
         w.loadConfig(argv[1]);
         QMessageBox::information(nullptr, "Configuration", "Successfully loaded calibration configuration");
       }
-      if (argc > 2) w.loadObservations(argv[2]);
+      if (argc > 2)
+        w.loadObservations(argv[2]);
     }
     catch (const std::exception& ex)
     {

gui/src/camera_intrinsic_calibration_widget.cpp

@@ -197,7 +197,8 @@ void CameraIntrinsicCalibrationWidget::onLoadConfig()
   {
     const QString config_file = QFileDialog::getOpenFileName(this, "Load calibration configuration file", QString(),
                                                              "YAML files (*.yaml *.yml)");
-    if (config_file.isNull() || config_file.isEmpty()) return;
+    if (config_file.isNull() || config_file.isEmpty())
+      return;
 
     loadConfig(config_file.toStdString());
 
@@ -257,7 +258,8 @@ void CameraIntrinsicCalibrationWidget::onLoadObservations()
   {
     QString observations_file =
         QFileDialog::getOpenFileName(this, "Load calibration observation file", QString(), "YAML files (*.yaml *.yml)");
-    if (observations_file.isNull() || observations_file.isEmpty()) return;
+    if (observations_file.isNull() || observations_file.isEmpty())
+      return;
 
     loadObservations(observations_file.toStdString());
   }
@@ -309,7 +311,8 @@ void CameraIntrinsicCalibrationWidget::loadObservations(const std::string& obser
 
 void CameraIntrinsicCalibrationWidget::drawImage(QTreeWidgetItem* item, int col)
 {
-  if (item == nullptr) return;
+  if (item == nullptr)
+    return;
 
   // Extract the top level item
   while (item->parent() != nullptr)
@@ -432,7 +435,8 @@ void CameraIntrinsicCalibrationWidget::calibrate()
       cv::Mat image = cv::imread(image_file.toStdString());
       auto pose = YAML::LoadFile(pose_file.toStdString()).as<Eigen::Isometry3d>();
 
-      if (i == 0) image_size = image.size();
+      if (i == 0)
+        image_size = image.size();
 
       Correspondence2D3D::Set correspondence_set = target_finder_->findCorrespondences(image);
 
@@ -445,7 +449,8 @@ void CameraIntrinsicCalibrationWidget::calibrate()
       if (homography_error_mean < ui_->double_spin_box_homography_threshold->value())
       {
         problem.image_observations.push_back(correspondence_set);
-        if (problem.use_extrinsic_guesses) problem.extrinsic_guesses.push_back(pose);
+        if (problem.use_extrinsic_guesses)
+          problem.extrinsic_guesses.push_back(pose);
 
         info(item, "Included in calibration");
       }
@@ -490,7 +495,8 @@ void CameraIntrinsicCalibrationWidget::onSaveResults()
   try
   {
     const QString file = QFileDialog::getSaveFileName(this, QString(), QString(), "YAML files (*.yaml *.yml)");
-    if (file.isNull() || file.isEmpty()) return;
+    if (file.isNull() || file.isEmpty())
+      return;
 
     saveResults(file.toStdString());
   }
@@ -515,7 +521,8 @@ void CameraIntrinsicCalibrationWidget::onSaveROSFormat()
   try
   {
     const QString file = QFileDialog::getSaveFileName(this, QString(), QString(), "YAML files (*.yaml *.yml)");
-    if (file.isNull() || file.isEmpty()) return;
+    if (file.isNull() || file.isEmpty())
+      return;
 
     saveROSFormat(file.toStdString());
   }
@@ -527,7 +534,8 @@ void CameraIntrinsicCalibrationWidget::onSaveROSFormat()
 
 void CameraIntrinsicCalibrationWidget::saveROSFormat(const std::string& file) const
 {
-  if (result_ == nullptr) return;
+  if (result_ == nullptr)
+    return;
 
   Eigen::Matrix<double, 3, 4, Eigen::RowMajor> mat;
   mat << result_->intrinsics.fx(), 0.0, result_->intrinsics.cx(), 0.0, 0.0, result_->intrinsics.fy(),
@@ -539,11 +547,13 @@ void CameraIntrinsicCalibrationWidget::saveROSFormat(const std::string& file) co
 
   // Image size
   {
-    if (ui_->tree_widget_observations->topLevelItemCount() == 0) throw ICalException("No observations have been added");
+    if (ui_->tree_widget_observations->topLevelItemCount() == 0)
+      throw ICalException("No observations have been added");
 
     QTreeWidgetItem* item = ui_->tree_widget_observations->topLevelItem(0);
     QString image_file = item->data(0, IMAGE_FILE_NAME_ROLE).value<QString>();
-    if (!QFile(image_file).exists()) throw ICalException("Image '" + image_file.toStdString() + "' does not exist");
+    if (!QFile(image_file).exists())
+      throw ICalException("Image '" + image_file.toStdString() + "' does not exist");
 
     cv::Mat image = cv::imread(image_file.toStdString());
     node["image_height"] = image.size[0];

gui/src/extrinsic_hand_eye_calibration_widget.cpp

@@ -151,7 +151,8 @@ void ExtrinsicHandEyeCalibrationWidget::onLoadConfig()
     // Get yaml filepath
     const QString config_file = QFileDialog::getOpenFileName(this, "Load calibration configuration file", QString(),
                                                              "YAML files (*.yaml *.yml)");
-    if (config_file.isNull() || config_file.isEmpty()) return;
+    if (config_file.isNull() || config_file.isEmpty())
+      return;
 
     loadConfig(config_file.toStdString());
 
@@ -198,7 +199,8 @@ void ExtrinsicHandEyeCalibrationWidget::onLoadObservations()
   {
     QString observations_file =
         QFileDialog::getOpenFileName(this, "Load calibration observation file", QString(), "YAML files (*.yaml *.yml)");
-    if (observations_file.isNull() || observations_file.isEmpty()) return;
+    if (observations_file.isNull() || observations_file.isEmpty())
+      return;
 
     loadObservations(observations_file.toStdString());
   }
@@ -250,7 +252,8 @@ void ExtrinsicHandEyeCalibrationWidget::loadObservations(const std::string& obse
 
 void ExtrinsicHandEyeCalibrationWidget::drawImage(QTreeWidgetItem* item, int col)
 {
-  if (item == nullptr) return;
+  if (item == nullptr)
+    return;
 
   // Extract the top level item
   while (item->parent() != nullptr)
@@ -441,7 +444,8 @@ void ExtrinsicHandEyeCalibrationWidget::onSaveResults()
   try
   {
     const QString file = QFileDialog::getSaveFileName(this, QString(), QString(), "YAML files (*.yaml *.yml)");
-    if (file.isNull() || file.isEmpty()) return;
+    if (file.isNull() || file.isEmpty())
+      return;
 
     saveResults(file.toStdString());
   }

gui/src/target_finder.cpp

@@ -31,7 +31,8 @@ void TargetFinderWidget::configure(const YAML::Node& node)
   // Target
   QString target_type = QString::fromStdString(getMember<std::string>(node, "type"));
   int idx = ui_->combo_box_target_finder->findText(target_type);
-  if (idx < 0) throw std::runtime_error("Unknown target type '" + target_type.toStdString() + "'");
+  if (idx < 0)
+    throw std::runtime_error("Unknown target type '" + target_type.toStdString() + "'");
 
   dynamic_cast<ConfigurableWidget*>(ui_->stacked_widget->widget(idx))->configure(node);
   ui_->combo_box_target_finder->setCurrentIndex(idx);

optimizations/include/industrial_calibration/optimizations/local_parameterization.h

@@ -89,7 +89,8 @@ struct EigenQuaternionPlus
  */
 void addSubsetParameterization(ceres::Problem& problem, const std::map<const double*, std::vector<int>>& param_masks)
 {
-  if (param_masks.empty()) return;
+  if (param_masks.empty())
+    return;
 
   std::vector<double*> parameter_blocks;
   problem.GetParameterBlocks(&parameter_blocks);

optimizations/src/camera_intrinsic.cpp

@@ -21,7 +21,8 @@ static Pose6d solvePnP(const CameraIntrinsics& intr, const Correspondence2D3D::S
 
   PnPResult result = optimize(problem);
 
-  if (!result.converged) throw ICalException("Unable to solve PnP sub-problem");
+  if (!result.converged)
+    throw ICalException("Unable to solve PnP sub-problem");
 
   return poseEigenToCal(result.camera_to_target);
 }

optimizations/src/covariance_analysis.cpp

@@ -26,8 +26,10 @@ Eigen::MatrixXd computeCorrelationsFromCovariance(const Eigen::MatrixXd& covaria
         out(static_cast<Eigen::Index>(i), static_cast<Eigen::Index>(j)) = sigma_i;
       else
       {
-        if (sigma_i < std::numeric_limits<double>::epsilon()) sigma_i = 1;
-        if (sigma_j < std::numeric_limits<double>::epsilon()) sigma_j = 1;
+        if (sigma_i < std::numeric_limits<double>::epsilon())
+          sigma_i = 1;
+        if (sigma_j < std::numeric_limits<double>::epsilon())
+          sigma_j = 1;
 
         out(static_cast<Eigen::Index>(i), static_cast<Eigen::Index>(j)) = covariance_matrix(i, j) / (sigma_i * sigma_j);
       }
@@ -163,7 +165,8 @@ CovarianceResult computeCovariance(ceres::Problem& problem, const std::vector<co
     // Extract tangent space
     std::vector<int> masks;
     auto it = param_masks.find(b);
-    if (it != param_masks.end()) masks = it->second;
+    if (it != param_masks.end())
+      masks = it->second;
 
     const std::vector<std::string>& label = param_names.at(b);
     for (std::size_t i = 0; i < static_cast<std::size_t>(block_size); ++i)

optimizations/src/covariance_types.cpp

@@ -19,7 +19,8 @@ std::vector<NamedParam> CovarianceResult::getCorrelationCoeffOutsideThreshold(co
   std::vector<NamedParam> out;
   for (auto corr : correlation_coeffs)
   {
-    if (std::abs(corr.value) > threshold) out.push_back(corr);
+    if (std::abs(corr.value) > threshold)
+      out.push_back(corr);
   }
   std::sort(out.begin(), out.end(), [](NamedParam a, NamedParam b) { return std::abs(a.value) > std::abs(b.value); });
   return out;

optimizations/src/dh_chain_kinematic_calibration.cpp

@@ -59,7 +59,8 @@ void printOptimizationLabels(ceres::Problem& problem, const std::map<const doubl
         sub_label.reserve(label.size());
         for (std::size_t j = 0; j < label.size(); ++j)
         {
-          if (std::find(mask.begin(), mask.end(), j) == mask.end()) sub_label.push_back(label.at(j));
+          if (std::find(mask.begin(), mask.end(), j) == mask.end())
+            sub_label.push_back(label.at(j));
         }
       }
     }
@@ -192,8 +193,10 @@ KinematicCalibrationResult optimize(const KinematicCalibrationProblem2D3D& param
   }
 
   // Tell the optimization to keep constant the dummy DH offsets that might have been added to the 0-DoF chains
-  if (params.camera_chain.dof() == 0) problem.SetParameterBlockConstant(camera_chain_dh_offsets.data());
-  if (params.target_chain.dof() == 0) problem.SetParameterBlockConstant(target_chain_dh_offsets.data());
+  if (params.camera_chain.dof() == 0)
+    problem.SetParameterBlockConstant(camera_chain_dh_offsets.data());
+  if (params.target_chain.dof() == 0)
+    problem.SetParameterBlockConstant(target_chain_dh_offsets.data());
 
   // Add subset parameterization to mask variables that shouldn't be optimized
   addSubsetParameterization(problem, param_masks);
@@ -401,8 +404,10 @@ KinematicCalibrationResult optimize(const KinematicCalibrationProblemPose6D& par
   }
 
   // Tell the optimization to keep constant the dummy DH offsets that might have been added to the 0-DoF chains
-  if (params.camera_chain.dof() == 0) problem.SetParameterBlockConstant(camera_chain_dh_offsets.data());
-  if (params.target_chain.dof() == 0) problem.SetParameterBlockConstant(target_chain_dh_offsets.data());
+  if (params.camera_chain.dof() == 0)
+    problem.SetParameterBlockConstant(camera_chain_dh_offsets.data());
+  if (params.target_chain.dof() == 0)
+    problem.SetParameterBlockConstant(target_chain_dh_offsets.data());
 
   // Add subset parameterization to mask variables that shouldn't be optimized
   addSubsetParameterization(problem, param_masks);

target_finders/opencv/src/circle_detector.cpp

@@ -108,7 +108,8 @@ DetectionResult findCircles(const cv::Mat& image, const double threshold, const
     if (params.filterByArea)
     {
       double area = moms.m00;
-      if (area < params.minArea || area >= params.maxArea) continue;
+      if (area < params.minArea || area >= params.maxArea)
+        continue;
     }
 
     // Circularity filter
@@ -117,7 +118,8 @@ DetectionResult findCircles(const cv::Mat& image, const double threshold, const
       double area = moms.m00;
       double perimeter = cv::arcLength(cv::Mat(contour), true);
       double ratio = 4 * CV_PI * area / (perimeter * perimeter);
-      if (ratio < params.minCircularity || ratio >= params.maxCircularity) continue;
+      if (ratio < params.minCircularity || ratio >= params.maxCircularity)
+        continue;
     }
 
     // Inertia filter
@@ -142,7 +144,8 @@ DetectionResult findCircles(const cv::Mat& image, const double threshold, const
         ratio = 1;
       }
 
-      if (ratio < params.minInertiaRatio || ratio >= params.maxInertiaRatio) continue;
+      if (ratio < params.minInertiaRatio || ratio >= params.maxInertiaRatio)
+        continue;
     }
 
     // Convexity filter
@@ -153,7 +156,8 @@ DetectionResult findCircles(const cv::Mat& image, const double threshold, const
       double area = cv::contourArea(cv::Mat(contour));
       double hullArea = cv::contourArea(cv::Mat(hull));
       double ratio = area / hullArea;
-      if (ratio < params.minConvexity || ratio >= params.maxConvexity) continue;
+      if (ratio < params.minConvexity || ratio >= params.maxConvexity)
+        continue;
     }
 
     // Fit an ellipse to the contour
@@ -162,7 +166,8 @@ DetectionResult findCircles(const cv::Mat& image, const double threshold, const
     // Check that the color of the center pixel matches the expectation
     if (params.filterByColor)
     {
-      if (binarized_image.at<uchar>(cvRound(box.center.y), cvRound(box.center.x)) != params.circleColor) continue;
+      if (binarized_image.at<uchar>(cvRound(box.center.y), cvRound(box.center.x)) != params.circleColor)
+        continue;
     }
 
     // Check that the contour matches a model of an ellipse within tolerance

target_finders/opencv/src/modified_circle_grid_target_finder.cpp

@@ -387,7 +387,8 @@ static std::vector<cv::Point2d> extractModifiedCircleGrid(const cv::Mat& image,
     }
   }
 
-  if (centers.size() == 0) throw ICalException("Failed to find circle centers");
+  if (centers.size() == 0)
+    throw ICalException("Failed to find circle centers");
 
   return extractKeyPoints(image, centers, detector_ptr, rows, cols, flipped);
 }

target_finders/opencv/src/utils.cpp

@@ -18,7 +18,8 @@ void drawReprojections(const VectorVector2d& reprojections, int size, cv::Scalar
 cv::Mat readImageOpenCV(const std::string& path)
 {
   cv::Mat image = cv::imread(path, cv::IMREAD_COLOR);
-  if (image.data == nullptr) throw BadFileException("Failed to load file at: '" + path + "'");
+  if (image.data == nullptr)
+    throw BadFileException("Failed to load file at: '" + path + "'");
 
   return image;
 }

test/pnp_utest.cpp

@@ -20,7 +20,8 @@ void checkCorrelation(const Eigen::MatrixXd& cov)
     for (Eigen::Index col = 0; col < cov.cols(); ++col)
     {
       // Since the covariance matrix is symmetric, just check the values in the top triangle
-      if (row < col) EXPECT_LT(std::abs(cov(row, col)), CORRELATION_COEFFICIENT_THRESHOLD);
+      if (row < col)
+        EXPECT_LT(std::abs(cov(row, col)), CORRELATION_COEFFICIENT_THRESHOLD);
     }
   }
 }

test/serialization_utest.cpp

@@ -13,7 +13,8 @@ template <class T>
 void serialize(const std::string& file, const T& val)
 {
   std::ofstream ofh(file);
-  if (!ofh) throw ICalException("Failed to open file '" + file + "'");
+  if (!ofh)
+    throw ICalException("Failed to open file '" + file + "'");
 
   YAML::Node n = YAML::Node(val);
   ofh << n;