Applied formatter (#25)

Signed-off-by: Shintaro SAKODA <[email protected]>
tier4 · Dec 26, 2023 · cd8838d · cd8838d
1 parent 57487a2
commit cd8838d
Show file tree

Hide file tree

Showing 12 changed files with 3,390 additions and 4,152 deletions.
diff --git a/apps/align.cpp b/apps/align.cpp
@@ -12,7 +12,7 @@
 #include <pclomp/gicp_omp.h>
 
 // align point clouds and measure processing time
-pcl::PointCloud<pcl::PointXYZ>::Ptr align(pcl::Registration<pcl::PointXYZ, pcl::PointXYZ>::Ptr registration, const pcl::PointCloud<pcl::PointXYZ>::Ptr& target_cloud, const pcl::PointCloud<pcl::PointXYZ>::Ptr& source_cloud ) {
+pcl::PointCloud<pcl::PointXYZ>::Ptr align(pcl::Registration<pcl::PointXYZ, pcl::PointXYZ>::Ptr registration, const pcl::PointCloud<pcl::PointXYZ>::Ptr& target_cloud, const pcl::PointCloud<pcl::PointXYZ>::Ptr& source_cloud) {
   registration->setInputTarget(target_cloud);
   registration->setInputSource(source_cloud);
   pcl::PointCloud<pcl::PointXYZ>::Ptr aligned(new pcl::PointCloud<pcl::PointXYZ>());
@@ -22,7 +22,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr align(pcl::Registration<pcl::PointXYZ, pcl::
   auto t2 = ros::WallTime::now();
   std::cout << "single : " << (t2 - t1).toSec() * 1000 << "[msec]" << std::endl;
 
-  for(int i=0; i<10; i++) {
+  for(int i = 0; i < 10; i++) {
     registration->align(*aligned);
   }
   auto t3 = ros::WallTime::now();
@@ -32,7 +32,6 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr align(pcl::Registration<pcl::PointXYZ, pcl::
   return aligned;
 }
 
-
 int main(int argc, char** argv) {
   if(argc != 3) {
     std::cout << "usage: align target.pcd source.pcd" << std::endl;
@@ -79,18 +78,13 @@ int main(int argc, char** argv) {
   pclomp::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>::Ptr gicp_omp(new pclomp::GeneralizedIterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ>());
   aligned = align(gicp_omp, target_cloud, source_cloud);
 
-
   std::cout << "--- pcl::NDT ---" << std::endl;
   pcl::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>::Ptr ndt(new pcl::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>());
   ndt->setResolution(1.0);
   aligned = align(ndt, target_cloud, source_cloud);
 
   std::vector<int> num_threads = {1, omp_get_max_threads()};
-  std::vector<std::pair<std::string, pclomp::NeighborSearchMethod>> search_methods = {
-    {"KDTREE", pclomp::KDTREE},
-    {"DIRECT7", pclomp::DIRECT7},
-    {"DIRECT1", pclomp::DIRECT1}
-  };
+  std::vector<std::pair<std::string, pclomp::NeighborSearchMethod>> search_methods = {{"KDTREE", pclomp::KDTREE}, {"DIRECT7", pclomp::DIRECT7}, {"DIRECT1", pclomp::DIRECT1}};
 
   pclomp::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>::Ptr ndt_omp(new pclomp::NormalDistributionsTransform<pcl::PointXYZ, pcl::PointXYZ>());
   ndt_omp->setResolution(1.0);