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fix(tier4_pcl_extensions): fix spell check (#6434)
* fix covar -> cov * fix evals and evecs * fix * fix * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp

+18-18
Original file line numberDiff line numberDiff line change
@@ -111,17 +111,17 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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struct Leaf
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{
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/** \brief Constructor.
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* Sets \ref nr_points, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref
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* evecs_ to the identity matrix
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* Sets \ref nr_points, \ref icov_, \ref mean_ and \ref eigen_values_ to 0 and \ref cov_ and
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* \ref eigen_vectors_ to the identity matrix
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*/
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Leaf()
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: nr_points(0),
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// mean_ (Eigen::Vector3d::Zero ()),
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centroid()
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// cov_ (Eigen::Matrix3d::Identity ()),
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// icov_ (Eigen::Matrix3d::Zero ()),
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// evecs_ (Eigen::Matrix3d::Identity ()),
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// evals_ (Eigen::Vector3d::Zero ())
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// eigen_vectors_ (Eigen::Matrix3d::Identity ()),
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// eigen_values_ (Eigen::Vector3d::Zero ())
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{
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}
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@@ -153,23 +153,23 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// }
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/** \brief Get the eigen vectors of the voxel covariance.
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* \note Order corresponds with \ref getEvals
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* \note Order corresponds with \ref getEigenValues
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* \return matrix whose columns contain eigen vectors
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*/
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// Eigen::Matrix3d
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// getEvecs () const
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// getEigenVectors () const
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// {
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// return (evecs_);
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// return (eigen_vectors_);
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// }
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/** \brief Get the eigen values of the voxel covariance.
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* \note Order corresponds with \ref getEvecs
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* \note Order corresponds with \ref getEigenVectors
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* \return vector of eigen values
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*/
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// Eigen::Vector3d
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// getEvals () const
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// getEigenValues () const
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// {
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// return (evals_);
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// return (eigen_values_);
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// }
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/** \brief Get the number of points contained by this voxel.
@@ -195,10 +195,10 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// Eigen::Matrix3d icov_;
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/** \brief Eigen vectors of voxel covariance matrix */
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// Eigen::Matrix3d evecs_;
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// Eigen::Matrix3d eigen_vectors_;
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/** \brief Eigen values of voxel covariance matrix */
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// Eigen::Vector3d evals_;
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// Eigen::Vector3d eigen_values_;
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PointCloud points;
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};
@@ -217,7 +217,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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: searchable_(true),
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// min_points_per_voxel_ (6),
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min_points_per_voxel_(1),
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// min_covar_eigenvalue_mult_ (0.01),
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// min_cov_eigenvalue_mult_ (0.01),
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leaves_(),
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voxel_centroids_(),
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voxel_centroids_leaf_indices_(),
@@ -258,12 +258,12 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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inline int getMinPointPerVoxel() { return min_points_per_voxel_; }
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/** \brief Set the minimum allowable ratio between eigenvalues to prevent singular covariance
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* matrices. \param[in] min_covar_eigenvalue_mult the minimum allowable ratio between eigenvalues
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* matrices. \param[in] min_cov_eigenvalue_mult the minimum allowable ratio between eigenvalues
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*/
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// inline void
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// setCovEigValueInflationRatio (double min_covar_eigenvalue_mult)
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// setCovEigValueInflationRatio (double min_cov_eigenvalue_mult)
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// {
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// min_covar_eigenvalue_mult_ = min_covar_eigenvalue_mult;
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// min_cov_eigenvalue_mult_ = min_cov_eigenvalue_mult;
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// }
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/** \brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance
@@ -272,7 +272,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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// inline double
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// getCovEigValueInflationRatio ()
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// {
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// return min_covar_eigenvalue_mult_;
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// return min_cov_eigenvalue_mult_;
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// }
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/** \brief Filter cloud and initializes voxel structure.
@@ -517,7 +517,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
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/** \brief Minimum allowable ratio between eigenvalues to prevent singular covariance
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* matrices. */
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// double min_covar_eigenvalue_mult_;
520+
// double min_cov_eigenvalue_mult_;
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/** \brief Voxel structure containing all leaf nodes (includes voxels with less than
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* a sufficient number of points). */

sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -300,7 +300,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)
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// Eigen values less than a threshold of max eigen value are inflated to a set fraction of the
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// max eigen value.
303-
// double min_covar_eigenvalue;
303+
// double min_cov_eigenvalue;
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for (typename std::map<size_t, Leaf>::iterator it = leaves_.begin(); it != leaves_.end(); ++it) {
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// Normalize the centroid

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