colmap · ahojnnes · Jul 5, 2023 · Jul 5, 2023 · Jul 5, 2023 · Jul 5, 2023
diff --git a/.azure-pipelines/build-ubuntu.yaml b/.azure-pipelines/build-ubuntu.yaml
@@ -19,6 +19,12 @@ jobs:
       ctestExclusions: "(mvs/colmap_mvs_gpu_mat_test)"
     ${{ if eq(parameters.asanEnabled, true) }}:
       ctestExclusions: "(feature/colmap_feature_sift_test)|(util/colmap_util_opengl_utils_test)|(mvs/colmap_mvs_gpu_mat_test)"
+    ${{ if eq(parameters.cmakeBuildType, 'ClangTidy') }}:
+      # Do not abort compilation in ClangTidy mode, so we see issues
+      # for all targets logged out to the console.
+      numAllowedNinjaErrors: 1000
+    ${{ if ne(parameters.cmakeBuildType, 'ClangTidy') }}:
+      numAllowedNinjaErrors: 1
   steps:
   - script: |
       sudo apt-get update && sudo apt-get install -y \
@@ -108,7 +114,7 @@ jobs:
         -DTESTS_ENABLED=ON \
         -DCMAKE_CUDA_ARCHITECTURES=50 \
         -DASAN_ENABLED=${{ parameters.asanEnabled }}
-      ninja
+      ninja -k $(numAllowedNinjaErrors)
     displayName: Configure and build
 
   - ${{ if ne(parameters.cmakeBuildType, 'ClangTidy') }}:

diff --git a/.clang-tidy b/.clang-tidy
@@ -1,6 +1,9 @@
 Checks: >
   performance-*,
   concurrency-*,
+  cppcoreguidelines-virtual-class-destructor,
+  google-explicit-constructor,
+  google-build-using-namespace,
 WarningsAsErrors: '*'
 FormatStyle: 'file'
 User: 'user'
diff --git a/src/colmap/base/camera_rig_test.cc b/src/colmap/base/camera_rig_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEmpty) {
   CameraRig camera_rig;
@@ -329,3 +329,5 @@ BOOST_AUTO_TEST_CASE(TestComputeAbsolutePose) {
   BOOST_CHECK_EQUAL(abs_qvec, ComposeIdentityQuaternion());
   BOOST_CHECK_EQUAL(abs_tvec, Eigen::Vector3d(0, -1, -2));
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/camera_test.cc b/src/colmap/base/camera_test.cc
@@ -35,7 +35,7 @@
 #include "colmap/camera/models.h"
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEmpty) {
   Camera camera;
@@ -381,3 +381,5 @@ BOOST_AUTO_TEST_CASE(TestRescale) {
   BOOST_CHECK_EQUAL(camera.PrincipalPointX(), 2);
   BOOST_CHECK_EQUAL(camera.PrincipalPointY(), 2);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/correspondence_graph_test.cc b/src/colmap/base/correspondence_graph_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 int FindNumTransitiveCorrespondences(const CorrespondenceGraph& graph,
                                      const image_t image_id,
@@ -365,3 +365,5 @@ BOOST_AUTO_TEST_CASE(TestDuplicate) {
   BOOST_CHECK_EQUAL(
       correspondence_graph.NumCorrespondencesBetweenImages().at(pair_id), 3);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/cost_functions_test.cc b/src/colmap/base/cost_functions_test.cc
@@ -36,7 +36,7 @@
 #include "colmap/camera/models.h"
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestBundleAdjustmentCostFunction) {
   std::unique_ptr<ceres::CostFunction> cost_function(
@@ -152,3 +152,5 @@ BOOST_AUTO_TEST_CASE(TestRelativePoseCostFunction) {
   BOOST_CHECK(cost_function->Evaluate(parameters, residuals, nullptr));
   BOOST_CHECK_EQUAL(residuals[0], 0.5);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/database_cache_test.cc b/src/colmap/base/database_cache_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEmpty) {
   DatabaseCache cache;
@@ -84,3 +84,5 @@ BOOST_AUTO_TEST_CASE(TestAddImage) {
   BOOST_CHECK_EQUAL(
       cache.CorrespondenceGraph().NumObservationsForImage(image.ImageId()), 0);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/database_test.cc b/src/colmap/base/database_test.cc
@@ -39,7 +39,7 @@
 
 #include <Eigen/Geometry>
 
-using namespace colmap;
+namespace colmap {
 
 const static std::string kMemoryDatabasePath = ":memory:";
 
@@ -501,3 +501,5 @@ BOOST_AUTO_TEST_CASE(TestMerge) {
   BOOST_CHECK_EQUAL(merged_database.NumDescriptors(), 0);
   BOOST_CHECK_EQUAL(merged_database.NumMatches(), 0);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/essential_matrix_test.cc b/src/colmap/base/essential_matrix_test.cc
@@ -38,7 +38,7 @@
 
 #include <Eigen/Geometry>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDecomposeEssentialMatrix) {
   const Eigen::Matrix3d R = EulerAnglesToRotationMatrix(0, 1, 1);
@@ -206,3 +206,5 @@ BOOST_AUTO_TEST_CASE(TestRefineEssentialMatrix) {
 
   BOOST_CHECK_LE((E - E_refined).norm(), (E - E_pertubated).norm());
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/gps_test.cc b/src/colmap/base/gps_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEllToXYZGRS80) {
   std::vector<Eigen::Vector3d> ell;
@@ -291,3 +291,5 @@ BOOST_AUTO_TEST_CASE(TestENUToXYZ) {
     BOOST_CHECK(xyz[i].isApprox(ref_xyz[i], 1e-8));
   }
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/graph_cut.h b/src/colmap/base/graph_cut.h
@@ -81,7 +81,7 @@ class MinSTGraphCut {
       adjacency_list<boost::vecS, boost::vecS, boost::directedS, size_t, Edge>
           graph_t;
 
-  MinSTGraphCut(const size_t num_nodes);
+  explicit MinSTGraphCut(const size_t num_nodes);
 
   // Count the number of nodes and edges in the graph.
   size_t NumNodes() const;

diff --git a/src/colmap/base/graph_cut_test.cc b/src/colmap/base/graph_cut_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestComputeMinGraphCutStoerWagner) {
   const std::vector<std::pair<int, int>> edges = {{3, 4},
@@ -276,3 +276,5 @@ BOOST_AUTO_TEST_CASE(TestMinSTGraphCut3) {
   BOOST_CHECK(graph.IsConnectedToSink(1));
   BOOST_CHECK(graph.IsConnectedToSink(2));
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/homography_matrix_test.cc b/src/colmap/base/homography_matrix_test.cc
@@ -38,7 +38,7 @@
 
 #include <Eigen/Geometry>
 
-using namespace colmap;
+namespace colmap {
 
 // Note that the test case values are obtained from OpenCV.
 BOOST_AUTO_TEST_CASE(TestDecomposeHomographyMatrix) {
@@ -174,3 +174,5 @@ BOOST_AUTO_TEST_CASE(TestHomographyMatrixFromPosePlanarScene) {
   H_ref << 2, 0, 0, 0, 1, 0, 0, 0, 1;
   BOOST_CHECK_EQUAL(H, H_ref);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/image_test.cc b/src/colmap/base/image_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDefault) {
   Image image;
@@ -367,3 +367,5 @@ BOOST_AUTO_TEST_CASE(TestViewingDirection) {
   Image image;
   BOOST_CHECK(image.ViewingDirection().isApprox(Eigen::Vector3d(0, 0, 1)));
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/point2d_test.cc b/src/colmap/base/point2d_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDefault) {
   Point2D point2D;
@@ -70,3 +70,5 @@ BOOST_AUTO_TEST_CASE(TestPoint3DId) {
   BOOST_CHECK_EQUAL(point2D.Point3DId(), kInvalidPoint3DId);
   BOOST_CHECK_EQUAL(point2D.HasPoint3D(), false);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/point3d_test.cc b/src/colmap/base/point3d_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDefault) {
   Point3D point3D;
@@ -112,3 +112,5 @@ BOOST_AUTO_TEST_CASE(TestTrack) {
   track.AddElement(0, 3);
   BOOST_CHECK_EQUAL(point3D.Track().Length(), 2);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/polynomial_test.cc b/src/colmap/base/polynomial_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 #define CHECK_EQUAL_RESULT(find_func1, coeffs1, find_func2, coeffs2) \
   {                                                                  \
@@ -200,3 +200,5 @@ BOOST_AUTO_TEST_CASE(TestFindPolynomialRootsCompanionMatrixZeroSolution) {
   ref_imag << 0, 0.651148, -0.651148, 0;
   BOOST_CHECK(imag.isApprox(ref_imag, 1e-6));
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/pose_test.cc b/src/colmap/base/pose_test.cc
@@ -38,7 +38,7 @@
 
 #include <Eigen/Core>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestCrossProductMatrix) {
   BOOST_CHECK_EQUAL(CrossProductMatrix(Eigen::Vector3d(0, 0, 0)),
@@ -460,3 +460,5 @@ BOOST_AUTO_TEST_CASE(TestCheckCheirality) {
   BOOST_CHECK(!CheckCheirality(R, t, points1, points2, &points3D));
   BOOST_CHECK_EQUAL(points3D.size(), 0);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/projection_test.cc b/src/colmap/base/projection_test.cc
@@ -39,7 +39,7 @@
 
 #include <Eigen/Core>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestComposeProjectionMatrix) {
   const Eigen::Matrix3d R = EulerAnglesToRotationMatrix(0, 1, 2);
@@ -220,3 +220,5 @@ BOOST_AUTO_TEST_CASE(TestHasPointPositiveDepth) {
       HasPointPositiveDepth(proj_matrix, Eigen::Vector3d(0, 0, -1));
   BOOST_CHECK(!check4);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/reconstruction_manager_test.cc b/src/colmap/base/reconstruction_manager_test.cc
@@ -36,7 +36,7 @@
 
 #include <Eigen/Geometry>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEmpty) {
   ReconstructionManager reconstruction_manager;
@@ -81,3 +81,5 @@ BOOST_AUTO_TEST_CASE(TestClear) {
   reconstruction_manager.Clear();
   BOOST_CHECK_EQUAL(reconstruction_manager.Size(), 0);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/reconstruction_test.cc b/src/colmap/base/reconstruction_test.cc
@@ -38,7 +38,7 @@
 #include "colmap/camera/models.h"
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 void GenerateReconstruction(const image_t num_images,
                             Reconstruction* reconstruction,
@@ -611,3 +611,5 @@ BOOST_AUTO_TEST_CASE(TestComputeMeanReprojectionError) {
   reconstruction.Point3D(point3D_id1).SetError(2.0);
   BOOST_CHECK_EQUAL(reconstruction.ComputeMeanReprojectionError(), 2.0);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/scene_clustering.h b/src/colmap/base/scene_clustering.h
@@ -73,7 +73,7 @@ class SceneClustering {
     std::vector<Cluster> child_clusters;
   };
 
-  SceneClustering(const Options& options);
+  explicit SceneClustering(const Options& options);
 
   void Partition(const std::vector<std::pair<image_t, image_t>>& image_pairs,
                  const std::vector<int>& num_inliers);

diff --git a/src/colmap/base/scene_clustering_test.cc b/src/colmap/base/scene_clustering_test.cc
@@ -37,7 +37,7 @@
 
 #include <set>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestEmpty) {
   const std::vector<std::pair<image_t, image_t>> image_pairs;
@@ -160,3 +160,5 @@ BOOST_AUTO_TEST_CASE(TestThreeFlatClustersTwoOverlap) {
   BOOST_CHECK(image_ids2.count(4));
   BOOST_CHECK(image_ids2.count(5));
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/similarity_transform_test.cc b/src/colmap/base/similarity_transform_test.cc
@@ -39,7 +39,7 @@
 
 #include <Eigen/Core>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDefaultInitialization) {
   const SimilarityTransform3 tform;
@@ -116,3 +116,5 @@ BOOST_AUTO_TEST_CASE(TestFromFile) {
   BOOST_CHECK_LE(
       (tform.Rotation() - Eigen::Vector4d(-0.5, 0.5, 0.5, 0.5)).norm(), 1e-6);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/track_test.cc b/src/colmap/base/track_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestTrackElement) {
   TrackElement track_el;
@@ -135,3 +135,5 @@ BOOST_AUTO_TEST_CASE(TestCompress) {
   track.Compress();
   BOOST_CHECK_EQUAL(track.Elements().capacity(), 2);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/triangulation_test.cc b/src/colmap/base/triangulation_test.cc
@@ -37,7 +37,7 @@
 
 #include <Eigen/Core>
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestTriangulatePoint) {
   std::vector<Eigen::Vector3d> points3D(6);
@@ -95,3 +95,5 @@ BOOST_AUTO_TEST_CASE(TestCalculateTriangulationAngle) {
                     0.019997333973,
                     1e-8);
 }
+
+}  // namespace colmap
diff --git a/src/colmap/base/visibility_pyramid_test.cc b/src/colmap/base/visibility_pyramid_test.cc
@@ -34,7 +34,7 @@
 
 #include "colmap/util/testing.h"
 
-using namespace colmap;
+namespace colmap {
 
 BOOST_AUTO_TEST_CASE(TestDefault) {
   VisibilityPyramid pyramid;
@@ -89,3 +89,5 @@ BOOST_AUTO_TEST_CASE(TestScore) {
         2 * scores.sum() + 2 * scores.tail(scores.size() - 1).sum());
   }
 }
+
+}  // namespace colmap