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fix(tier4_pcl_extensions): fix spell check #6434

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merged 7 commits into from
Feb 26, 2024
Merged

fix(tier4_pcl_extensions): fix spell check #6434

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0539495
fix covar -> cov
h-ohta Feb 16, 2024
c7de7e8
fix evals and evecs
h-ohta Feb 16, 2024
fe15267
fix
h-ohta Feb 16, 2024
2556ef8
fix
h-ohta Feb 16, 2024
f269f19
style(pre-commit): autofix
pre-commit-ci[bot] Feb 16, 2024
3df3280
Merge branch 'main' into fix/spell_check_pcl_ext
knzo25 Feb 19, 2024
19a5b84
Merge branch 'main' into fix/spell_check_pcl_ext
h-ohta Feb 21, 2024
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36 changes: 18 additions & 18 deletions sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,17 +111,17 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
struct Leaf
{
/** \brief Constructor.
* Sets \ref nr_points, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref
* evecs_ to the identity matrix
* Sets \ref nr_points, \ref icov_, \ref mean_ and \ref eigen_values_ to 0 and \ref cov_ and
* \ref eigen_vectors_ to the identity matrix
*/
Leaf()
: nr_points(0),
// mean_ (Eigen::Vector3d::Zero ()),
centroid()
// cov_ (Eigen::Matrix3d::Identity ()),
// icov_ (Eigen::Matrix3d::Zero ()),
// evecs_ (Eigen::Matrix3d::Identity ()),
// evals_ (Eigen::Vector3d::Zero ())
// eigen_vectors_ (Eigen::Matrix3d::Identity ()),
// eigen_values_ (Eigen::Vector3d::Zero ())
{
}

Expand Down Expand Up @@ -153,23 +153,23 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
// }

/** \brief Get the eigen vectors of the voxel covariance.
* \note Order corresponds with \ref getEvals
* \note Order corresponds with \ref getEigenValues
* \return matrix whose columns contain eigen vectors
*/
// Eigen::Matrix3d
// getEvecs () const
// getEigenVectors () const
// {
// return (evecs_);
// return (eigen_vectors_);
// }

/** \brief Get the eigen values of the voxel covariance.
* \note Order corresponds with \ref getEvecs
* \note Order corresponds with \ref getEigenVectors
* \return vector of eigen values
*/
// Eigen::Vector3d
// getEvals () const
// getEigenValues () const
// {
// return (evals_);
// return (eigen_values_);
// }

/** \brief Get the number of points contained by this voxel.
Expand All @@ -195,10 +195,10 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
// Eigen::Matrix3d icov_;

/** \brief Eigen vectors of voxel covariance matrix */
// Eigen::Matrix3d evecs_;
// Eigen::Matrix3d eigen_vectors_;

/** \brief Eigen values of voxel covariance matrix */
// Eigen::Vector3d evals_;
// Eigen::Vector3d eigen_values_;

PointCloud points;
};
Expand All @@ -217,7 +217,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
: searchable_(true),
// min_points_per_voxel_ (6),
min_points_per_voxel_(1),
// min_covar_eigenvalue_mult_ (0.01),
// min_cov_eigenvalue_mult_ (0.01),
leaves_(),
voxel_centroids_(),
voxel_centroids_leaf_indices_(),
Expand Down Expand Up @@ -258,12 +258,12 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
inline int getMinPointPerVoxel() { return min_points_per_voxel_; }

/** \brief Set the minimum allowable ratio between eigenvalues to prevent singular covariance
* matrices. \param[in] min_covar_eigenvalue_mult the minimum allowable ratio between eigenvalues
* matrices. \param[in] min_cov_eigenvalue_mult the minimum allowable ratio between eigenvalues
*/
// inline void
// setCovEigValueInflationRatio (double min_covar_eigenvalue_mult)
// setCovEigValueInflationRatio (double min_cov_eigenvalue_mult)
// {
// min_covar_eigenvalue_mult_ = min_covar_eigenvalue_mult;
// min_cov_eigenvalue_mult_ = min_cov_eigenvalue_mult;
// }

/** \brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance
Expand All @@ -272,7 +272,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>
// inline double
// getCovEigValueInflationRatio ()
// {
// return min_covar_eigenvalue_mult_;
// return min_cov_eigenvalue_mult_;
// }

/** \brief Filter cloud and initializes voxel structure.
Expand Down Expand Up @@ -517,7 +517,7 @@ class VoxelGridNearestCentroid : public VoxelGrid<PointT>

/** \brief Minimum allowable ratio between eigenvalues to prevent singular covariance
* matrices. */
// double min_covar_eigenvalue_mult_;
// double min_cov_eigenvalue_mult_;

/** \brief Voxel structure containing all leaf nodes (includes voxels with less than
* a sufficient number of points). */
Expand Down
2 changes: 1 addition & 1 deletion ...ng/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -300,7 +300,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)

// Eigen values less than a threshold of max eigen value are inflated to a set fraction of the
// max eigen value.
// double min_covar_eigenvalue;
// double min_cov_eigenvalue;

for (typename std::map<size_t, Leaf>::iterator it = leaves_.begin(); it != leaves_.end(); ++it) {
// Normalize the centroid
Expand Down
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