style(pre-commit): autofix

autowarefoundation · Mar 5, 2025 · 46b11ac · 46b11ac
1 parent dc96513
commit 46b11ac
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Showing 6 changed files with 43 additions and 28 deletions.
diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt
@@ -90,7 +90,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
   src/downsample_filter/random_downsample_filter_node.cpp
   src/downsample_filter/approximate_downsample_filter_node.cpp
   src/downsample_filter/pickup_based_voxel_grid_downsample_filter_node.cpp
-  src/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.cpp  
+  src/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.cpp
   src/outlier_filter/ring_outlier_filter_node.cpp
   src/outlier_filter/radius_search_2d_outlier_filter_node.cpp
   src/outlier_filter/voxel_grid_outlier_filter_node.cpp

diff --git a/...cloud_preprocessor/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.hpp b/...cloud_preprocessor/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.hpp
@@ -15,15 +15,18 @@
 #pragma once
 
 #include "autoware/pointcloud_preprocessor/transform_info.hpp"
+
+#include <Eigen/Core>
+
 #include <pcl/filters/voxel_grid.h>
 #include <pcl_conversions/pcl_conversions.h>
 #include <sensor_msgs/msg/point_cloud2.h>
-#include <unordered_map>
-#include <vector>
-#include <limits>
+
 #include <cfloat>
 #include <cmath>
-#include <Eigen/Core>
+#include <limits>
+#include <unordered_map>
+#include <vector>
 
 namespace autoware::pointcloud_preprocessor
 {
@@ -39,8 +42,8 @@ class RoiExcludedFasterVoxelGridDownsampleFilter  // renamed class
   void set_field_offsets(const PointCloud2ConstPtr & input, const rclcpp::Logger & logger);
   void set_roi(float x_min, float x_max, float y_min, float y_max);
   void filter(
-    const PointCloud2ConstPtr & input, PointCloud2 & output, 
-    const TransformInfo & transform_info, const rclcpp::Logger & logger);
+    const PointCloud2ConstPtr & input, PointCloud2 & output, const TransformInfo & transform_info,
+    const rclcpp::Logger & logger);
 
 private:
   struct Centroid
@@ -52,15 +55,21 @@ class RoiExcludedFasterVoxelGridDownsampleFilter  // renamed class
     uint32_t point_count_;
     Centroid() : x(0), y(0), z(0), intensity(0), point_count_(0) {}
     Centroid(float _x, float _y, float _z, float _intensity)
-      : x(_x), y(_y), z(_z), intensity(_intensity), point_count_(1) {}
+    : x(_x), y(_y), z(_z), intensity(_intensity), point_count_(1)
+    {
+    }
     void add_point(float _x, float _y, float _z, float _intensity)
     {
-      x += _x; y += _y; z += _z; intensity += _intensity;
+      x += _x;
+      y += _y;
+      z += _z;
+      intensity += _intensity;
       point_count_++;
     }
     Eigen::Vector4f calc_centroid() const
     {
-      return Eigen::Vector4f(x/point_count_, y/point_count_, z/point_count_, intensity/point_count_);
+      return Eigen::Vector4f(
+        x / point_count_, y / point_count_, z / point_count_, intensity / point_count_);
     }
   };
 
@@ -88,4 +97,4 @@ class RoiExcludedFasterVoxelGridDownsampleFilter  // renamed class
     const TransformInfo & transform_info);
 };
 
-}  // namespace pointcloud_preprocessor
+}  // namespace autoware::pointcloud_preprocessor
diff --git a/...ntcloud_preprocessor/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.hpp b/...ntcloud_preprocessor/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_
-#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_
+#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_
+#define AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_
 
 #include "autoware/pointcloud_preprocessor/filter.hpp"
 #include "autoware/pointcloud_preprocessor/transform_info.hpp"
 
-#include <rclcpp/rclcpp.hpp>
 #include <rcl_interfaces/msg/set_parameters_result.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <mutex>
 #include <vector>
@@ -35,8 +35,8 @@ class RoiExcludedVoxelGridDownsampleFilterComponent : public Filter
   void filter(
     const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output) override;
   void faster_filter(
-    const PointCloud2ConstPtr & input, const IndicesPtr & indices,
-    PointCloud2 & output, const TransformInfo & transform_info) override;
+    const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
+    const TransformInfo & transform_info) override;
 
 private:
   float voxel_size_x_;
@@ -52,6 +52,6 @@ class RoiExcludedVoxelGridDownsampleFilterComponent : public Filter
     const std::vector<rclcpp::Parameter> & parameters);
 };
 
-}  // namespace pointcloud_preprocessor
+}  // namespace autoware::pointcloud_preprocessor
 
-#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODELET_HPP_
+#endif  // AUTOWARE__POINTCLOUD_PREPROCESSOR__DOWNSAMPLE_FILTER__ROI_EXCLUDED_VOXEL_GRID_DOWNSAMPLE_FILTER_NODE_HPP_
diff --git a/...d_preprocessor/src/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.cpp b/...d_preprocessor/src/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.cpp
@@ -14,10 +14,10 @@
 
 #include "autoware/pointcloud_preprocessor/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.hpp"
 
-#include <Eigen/Dense>  
+#include <Eigen/Dense>
 #include <rclcpp/rclcpp.hpp>
 
-#include <cfloat> 
+#include <cfloat>
 
 namespace autoware::pointcloud_preprocessor
 {
@@ -89,7 +89,7 @@ bool RoiExcludedFasterVoxelGridDownsampleFilter::get_min_max_voxel(
       max_point = max_point.cwiseMax(point.head<3>());
     }
   }
-  
+
   if (
     ((static_cast<std::int64_t>((max_point[0] - min_point[0]) * inverse_voxel_size_[0]) + 1) *
      (static_cast<std::int64_t>((max_point[1] - min_point[1]) * inverse_voxel_size_[1]) + 1) *
@@ -235,4 +235,4 @@ void RoiExcludedFasterVoxelGridDownsampleFilter::filter(
     output.data.begin() + downsampled_filtered.data.size());
 }
 
-}  // namespace pointcloud_preprocessor
+}  // namespace autoware::pointcloud_preprocessor
diff --git a/...oud_preprocessor/src/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.cpp b/...oud_preprocessor/src/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.cpp
@@ -13,8 +13,11 @@
 // limitations under the License.
 
 #include "autoware/pointcloud_preprocessor/downsample_filter/roi_excluded_voxel_grid_downsample_filter_node.hpp"
+
 #include "autoware/pointcloud_preprocessor/downsample_filter/roi_excluded_faster_voxel_grid_downsample_filter.hpp"
+
 #include <rclcpp/rclcpp.hpp>
+
 #include <mutex>
 #include <vector>
 
@@ -49,8 +52,8 @@ void RoiExcludedVoxelGridDownsampleFilterComponent::filter(
 }
 
 void RoiExcludedVoxelGridDownsampleFilterComponent::faster_filter(
-  const PointCloud2ConstPtr & input, const IndicesPtr & indices,
-  PointCloud2 & output, const TransformInfo & transform_info)
+  const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output,
+  const TransformInfo & transform_info)
 {
   std::scoped_lock lock(mutex_);
   if (indices) {
@@ -63,7 +66,8 @@ void RoiExcludedVoxelGridDownsampleFilterComponent::faster_filter(
   roi_excluded_filter.filter(input, output, transform_info, this->get_logger());
 }
 
-rcl_interfaces::msg::SetParametersResult RoiExcludedVoxelGridDownsampleFilterComponent::paramCallback(
+rcl_interfaces::msg::SetParametersResult
+RoiExcludedVoxelGridDownsampleFilterComponent::paramCallback(
   const std::vector<rclcpp::Parameter> & parameters)
 {
   std::scoped_lock lock(mutex_);
@@ -94,7 +98,8 @@ rcl_interfaces::msg::SetParametersResult RoiExcludedVoxelGridDownsampleFilterCom
   return result;
 }
 
-}  // namespace pointcloud_preprocessor
+}  // namespace autoware::pointcloud_preprocessor
 
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pointcloud_preprocessor::RoiExcludedVoxelGridDownsampleFilterComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(
+  autoware::pointcloud_preprocessor::RoiExcludedVoxelGridDownsampleFilterComponent)
diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp
@@ -140,7 +140,8 @@ void autoware::pointcloud_preprocessor::Filter::subscribe(const std::string & fi
   // each time a child class supports the faster version.
   // When all the child classes support the faster version, this workaround is deleted.
   std::set<std::string> supported_nodes = {
-    "CropBoxFilter", "RingOutlierFilter", "VoxelGridDownsampleFilter", "ScanGroundFilter", "RoiExcludedVoxelGridDownsampleFilter"};
+    "CropBoxFilter", "RingOutlierFilter", "VoxelGridDownsampleFilter", "ScanGroundFilter",
+    "RoiExcludedVoxelGridDownsampleFilter"};
   auto callback = supported_nodes.find(filter_name) != supported_nodes.end()
                     ? &Filter::faster_input_indices_callback
                     : &Filter::input_indices_callback;