Localization : Simple code cleaning to mute compile warnings

modules/localization/msf/common/util/threadpool.h

@@ -169,10 +169,10 @@ class ThreadPoolImpl : public std::enable_shared_from_this<ThreadPoolImpl> {
  public:
   /// Constructor.
   ThreadPoolImpl()
-      : worker_count_(0),
+      : terminate_all_workers_(false),
+        worker_count_(0),
         target_worker_count_(0),
-        active_worker_count_(0),
-        terminate_all_workers_(false) {
+        active_worker_count_(0) {
     m_scheduler.Clear();
   }
 

modules/localization/msf/local_map/lossy_map/lossy_map_matrix_2d.cc

@@ -71,7 +71,7 @@ LossyMapMatrix2D::LossyMapMatrix2D(const LossyMapMatrix2D& matrix)
   }
 }
 
-LossyMapMatrix2D& LossyMapMatrix2D::operator= (const LossyMapMatrix2D& matrix) {
+LossyMapMatrix2D& LossyMapMatrix2D::operator=(const LossyMapMatrix2D& matrix) {
   Init(matrix.rows_, matrix.cols_);
   for (unsigned int y = 0; y < rows_; ++y) {
     for (unsigned int x = 0; x < cols_; ++x) {
@@ -143,8 +143,7 @@ uint16_t LossyMapMatrix2D::EncodeVar(const LossyMapCell2D& cell) const {
   return intensity_var;
 }
 
-void LossyMapMatrix2D::DecodeVar(uint16_t data,
-                                 LossyMapCell2D* cell) const {
+void LossyMapMatrix2D::DecodeVar(uint16_t data, LossyMapCell2D* cell) const {
   float var = data;
   var = (var_range_ / var - 1.0) / var_ratio_;
   cell->intensity_var = var * var;
@@ -171,8 +170,7 @@ void LossyMapMatrix2D::DecodeAltitudeGround(uint16_t data,
   return;
 }
 
-uint16_t LossyMapMatrix2D::EncodeAltitudeAvg(
-    const LossyMapCell2D& cell) const {
+uint16_t LossyMapMatrix2D::EncodeAltitudeAvg(const LossyMapCell2D& cell) const {
   float delta_alt = cell.altitude - alt_avg_min_;
   delta_alt /= alt_avg_interval_;
   int ratio = delta_alt + 0.5;
@@ -428,18 +426,17 @@ unsigned int LossyMapMatrix2D::GetBinarySize() const {
   unsigned int target_size =
       sizeof(unsigned int) * 2 + sizeof(float) * 4;  // rows and cols and alts
   // count, intensity, intensity_var, altitude_avg, altitude_ground
-  target_size +=
-      rows_ * cols_ *
-      (sizeof(unsigned char) + sizeof(unsigned char) + sizeof(uint16_t) +
-       sizeof(uint16_t) + sizeof(uint16_t));
+  target_size += rows_ * cols_ *
+                 (sizeof(unsigned char) + sizeof(unsigned char) +
+                  sizeof(uint16_t) + sizeof(uint16_t) + sizeof(uint16_t));
   return target_size;
 }
 
 void LossyMapMatrix2D::GetIntensityImg(cv::Mat* intensity_img) const {
   *intensity_img = cv::Mat(cv::Size(cols_, rows_), CV_8UC1);
 
-  for (int y = 0; y < rows_; ++y) {
-    for (int x = 0; x < cols_; ++x) {
+  for (unsigned int y = 0; y < rows_; ++y) {
+    for (unsigned int x = 0; x < cols_; ++x) {
       unsigned int id = y * cols_ + x;
       intensity_img->at<unsigned char>(y, x) =
           (unsigned char)(map_cells_[id].intensity);

modules/localization/msf/local_tool/map_creation/lossless_map_to_lossy_map.cc

@@ -52,8 +52,8 @@ MapNodeIndex GetMapIndexFromMapFolder(const std::string& map_folder) {
 }
 
 bool GetAllMapIndex(const std::string& src_map_folder,
-                       const std::string& dst_map_folder,
-                       std::list<MapNodeIndex>* buf) {
+                    const std::string& dst_map_folder,
+                    std::list<MapNodeIndex>* buf) {
   std::string src_map_path = src_map_folder + "/map";
   std::string dst_map_path = dst_map_folder + "/map";
   boost::filesystem::path src_map_path_boost(src_map_path);
@@ -66,7 +66,6 @@ bool GetAllMapIndex(const std::string& src_map_folder,
   // push path of map's index to list
   buf->clear();
   // std::deque<std::string> map_bin_path;
-  int index = 0;
   boost::filesystem::recursive_directory_iterator end_iter;
   boost::filesystem::recursive_directory_iterator iter(src_map_path_boost);
   for (; iter != end_iter; ++iter) {
@@ -95,17 +94,17 @@ bool GetAllMapIndex(const std::string& src_map_folder,
 }  // namespace localization
 }  // namespace apollo
 
-using apollo::localization::msf::MapNodeIndex;
-using apollo::localization::msf::LossyMapMatrix;
-using apollo::localization::msf::LossyMapConfig;
-using apollo::localization::msf::LossyMapNodePool;
-using apollo::localization::msf::LossyMap;
-using apollo::localization::msf::LossyMapNode;
-using apollo::localization::msf::LosslessMapNodePool;
-using apollo::localization::msf::LosslessMapConfig;
 using apollo::localization::msf::LosslessMap;
-using apollo::localization::msf::LosslessMapNode;
+using apollo::localization::msf::LosslessMapConfig;
 using apollo::localization::msf::LosslessMapMatrix;
+using apollo::localization::msf::LosslessMapNode;
+using apollo::localization::msf::LosslessMapNodePool;
+using apollo::localization::msf::LossyMap;
+using apollo::localization::msf::LossyMapConfig;
+using apollo::localization::msf::LossyMapMatrix;
+using apollo::localization::msf::LossyMapNode;
+using apollo::localization::msf::LossyMapNodePool;
+using apollo::localization::msf::MapNodeIndex;
 
 int main(int argc, char** argv) {
   boost::program_options::options_description boost_desc("Allowed options");

modules/localization/msf/msf_localization.cc

@@ -29,10 +29,10 @@ namespace apollo {
 namespace localization {
 
 using ::Eigen::Vector3d;
+using apollo::common::Status;
 using apollo::common::adapter::AdapterManager;
 using apollo::common::adapter::ImuAdapter;
 using apollo::common::monitor::MonitorMessageItem;
-using apollo::common::Status;
 using apollo::common::time::Clock;
 
 MSFLocalization::MSFLocalization()
@@ -124,15 +124,13 @@ Status MSFLocalization::Init() {
   switch (state.error_code()) {
     case LocalizationErrorCode::INTEG_ERROR:
       return Status(common::LOCALIZATION_ERROR_INTEG, state.error_msg());
-      break;
     case LocalizationErrorCode::LIDAR_ERROR:
       return Status(common::LOCALIZATION_ERROR_LIDAR, state.error_msg());
-      break;
     case LocalizationErrorCode::GNSS_ERROR:
       return Status(common::LOCALIZATION_ERROR_GNSS, state.error_msg());
+    default:
+      return Status::OK();
   }
-
-  return Status::OK();
 }
 
 void MSFLocalization::InitParams() {