fix: remove unnecessary change

Author: taisa1

perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp

@@ -55,7 +55,6 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node
 {
 public:
   explicit PointcloudBasedOccupancyGridMapNode(const rclcpp::NodeOptions & node_options);
-  ~PointcloudBasedOccupancyGridMapNode();
 
 private:
   void onPointcloudWithObstacleAndRaw(

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp

@@ -58,6 +58,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
   constexpr double min_angle = autoware::universe_utils::deg2rad(-180.0);
   constexpr double max_angle = autoware::universe_utils::deg2rad(180.0);
   constexpr double angle_increment = autoware::universe_utils::deg2rad(0.1);
+  const auto angle_increment_inv = 1.0 / angle_increment;
   const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/);
 
   // Transform Matrix from base_link to map frame
@@ -92,7 +93,6 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     obstacle_pointcloud.fields[pcl::getFieldIndex(obstacle_pointcloud, "z")].offset;
   const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height;
   const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height;
-
   const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size;
   const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size;
   for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) {
@@ -102,7 +102,6 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     obstacle_pointcloud_angle_bin.reserve(obstacle_reserve_size);
   }
   size_t global_offset = 0;
-  const auto angle_increment_inv = 1.0 / angle_increment;
   for (size_t i = 0; i < raw_pointcloud_size; ++i) {
     Eigen::Vector4f pt(
       *reinterpret_cast<const float *>(&raw_pointcloud.data[global_offset + x_offset_raw]),
@@ -134,6 +133,7 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
     });
   }
   global_offset = 0;
+  // Create obstacle angle bins and sort points by range
   for (size_t i = 0; i < obstacle_pointcloud_size; ++i) {
     Eigen::Vector4f pt(
       *reinterpret_cast<const float *>(

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp

@@ -59,6 +59,7 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
   constexpr double min_angle = autoware::universe_utils::deg2rad(-180.0);
   constexpr double max_angle = autoware::universe_utils::deg2rad(180.0);
   constexpr double angle_increment = autoware::universe_utils::deg2rad(0.1);
+  const auto angle_increment_inv = 1.0 / angle_increment;
   const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/);
 
   // Transform from base_link to map frame
@@ -94,7 +95,6 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     double projected_wx;
     double projected_wy;
   };
-
   std::vector</*angle bin*/ std::vector<BinInfo3D>> obstacle_pointcloud_angle_bins(angle_bin_size);
   std::vector</*angle bin*/ std::vector<BinInfo3D>> raw_pointcloud_angle_bins(angle_bin_size);
   const int x_offset_raw = raw_pointcloud.fields[pcl::getFieldIndex(raw_pointcloud, "x")].offset;
@@ -108,7 +108,6 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     obstacle_pointcloud.fields[pcl::getFieldIndex(obstacle_pointcloud, "z")].offset;
   const size_t raw_pointcloud_size = raw_pointcloud.width * raw_pointcloud.height;
   const size_t obstacle_pointcloud_size = obstacle_pointcloud.width * obstacle_pointcloud.height;
-
   const size_t raw_reserve_size = raw_pointcloud_size / angle_bin_size;
   const size_t obstacle_reserve_size = obstacle_pointcloud_size / angle_bin_size;
   for (auto & raw_pointcloud_angle_bin : raw_pointcloud_angle_bins) {
@@ -118,8 +117,6 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
     obstacle_pointcloud_angle_bin.reserve(obstacle_reserve_size);
   }
   size_t global_offset = 0;
-  const auto angle_increment_inv = 1.0 / angle_increment;
-
   for (size_t i = 0; i < raw_pointcloud_size; i++) {
     Eigen::Vector4f pt(
       *reinterpret_cast<const float *>(&raw_pointcloud.data[global_offset + x_offset_raw]),
@@ -151,8 +148,8 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
       return a.range < b.range;
     });
   }
-
   global_offset = 0;
+  // Create obstacle angle bins and sort points by range
   for (size_t i = 0; i < obstacle_pointcloud_size; i++) {
     Eigen::Vector4f pt(
       *reinterpret_cast<const float *>(

perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp

@@ -199,7 +199,6 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw(
   occupancy_grid_map_ptr_->updateOrigin(
     gridmap_origin.position.x - occupancy_grid_map_ptr_->getSizeInMetersX() / 2,
     gridmap_origin.position.y - occupancy_grid_map_ptr_->getSizeInMetersY() / 2);
-
   occupancy_grid_map_ptr_->updateWithPointCloud(
     *input_raw_use, (use_input_obstacle_pc_common ? input_obstacle_pc_common : *input_obstacle_use),
     robot_pose, scan_origin);