From 2701de927deccf8d61b6b2fc2e361c35dc0ce978 Mon Sep 17 00:00:00 2001 From: Heiko Thiel Date: Tue, 15 Jun 2021 15:28:08 +0200 Subject: [PATCH] Enable Clang-Format on CI for ungrouped apps --- .dev/format.sh | 2 +- .../apps/impl/dominant_plane_segmentation.hpp | 2 +- apps/include/pcl/apps/nn_classification.h | 1 + apps/include/pcl/apps/openni_passthrough.h | 2 +- .../filesystem_face_detection.cpp | 4 ++-- apps/src/grabcut_2d.cpp | 7 ++----- .../manual_registration.cpp | 20 +++++++++---------- apps/src/ni_agast.cpp | 5 ++--- apps/src/ni_brisk.cpp | 3 +-- apps/src/openni_feature_persistence.cpp | 3 ++- apps/src/openni_grab_frame.cpp | 2 +- apps/src/openni_klt.cpp | 1 + apps/src/openni_mls_smoothing.cpp | 2 +- apps/src/openni_octree_compression.cpp | 3 ++- apps/src/openni_organized_compression.cpp | 3 ++- apps/src/openni_passthrough.cpp | 19 +++++++++--------- apps/src/openni_tracking.cpp | 2 +- apps/src/organized_segmentation_demo.cpp | 14 ++++++------- ...pcd_organized_multi_plane_segmentation.cpp | 13 ++++++------ apps/src/pcd_select_object_plane.cpp | 5 ++--- .../src/pcd_video_player/pcd_video_player.cpp | 15 +++++++------- apps/src/ppf_object_recognition.cpp | 3 +-- apps/src/render_views_tesselated_sphere.cpp | 4 ++-- apps/src/stereo_ground_segmentation.cpp | 4 ++-- 24 files changed, 69 insertions(+), 70 deletions(-) diff --git a/.dev/format.sh b/.dev/format.sh index 171236c83b1..6c92e0ec844 100755 --- a/.dev/format.sh +++ b/.dev/format.sh @@ -8,7 +8,7 @@ format() { # don't use a directory with whitespace - local whitelist="apps/3d_rec_framework apps/modeler 2d geometry ml octree simulation stereo tracking registration gpu/containers" + local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src 2d geometry ml octree simulation stereo tracking registration gpu/containers" local PCL_DIR="${2}" local formatter="${1}" diff --git a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp index 31229eafc9c..4a47568ea70 100644 --- a/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp +++ b/apps/include/pcl/apps/impl/dominant_plane_segmentation.hpp @@ -34,7 +34,7 @@ */ #include // for ExtractIndices -#include // for pcl::make_shared +#include // for pcl::make_shared template void diff --git a/apps/include/pcl/apps/nn_classification.h b/apps/include/pcl/apps/nn_classification.h index e2977e90138..19bbd0ecf41 100644 --- a/apps/include/pcl/apps/nn_classification.h +++ b/apps/include/pcl/apps/nn_classification.h @@ -41,6 +41,7 @@ #include #include + #include // for FLT_MAX namespace pcl { diff --git a/apps/include/pcl/apps/openni_passthrough.h b/apps/include/pcl/apps/openni_passthrough.h index cb315758303..941a49a7e7c 100644 --- a/apps/include/pcl/apps/openni_passthrough.h +++ b/apps/include/pcl/apps/openni_passthrough.h @@ -88,7 +88,7 @@ class OpenNIPassthrough : public QMainWindow { protected: void refreshView(); - + pcl::visualization::PCLVisualizer::Ptr vis_; pcl::OpenNIGrabber& grabber_; std::string device_id_; diff --git a/apps/src/face_detection/filesystem_face_detection.cpp b/apps/src/face_detection/filesystem_face_detection.cpp index ec2deeceb1a..fcb5028b66a 100644 --- a/apps/src/face_detection/filesystem_face_detection.cpp +++ b/apps/src/face_detection/filesystem_face_detection.cpp @@ -46,8 +46,8 @@ run(pcl::RFFaceDetectorTrainer& fdrf, float rgb_m; bool exists_m; - pcl::for_each_type(pcl::CopyIfFieldExists( - (*scene_vis)[0], "rgb", exists_m, rgb_m)); + pcl::for_each_type( + pcl::CopyIfFieldExists((*scene_vis)[0], "rgb", exists_m, rgb_m)); std::cout << "Color exists:" << static_cast(exists_m) << std::endl; if (exists_m) { diff --git a/apps/src/grabcut_2d.cpp b/apps/src/grabcut_2d.cpp index ff4912e8f07..d383f55a8d9 100644 --- a/apps/src/grabcut_2d.cpp +++ b/apps/src/grabcut_2d.cpp @@ -236,11 +236,8 @@ GrabCutHelper::display(int display_type) break; case 1: - glDrawPixels(gmm_image_->width, - gmm_image_->height, - GL_RGB, - GL_FLOAT, - &((*gmm_image_)[0])); + glDrawPixels( + gmm_image_->width, gmm_image_->height, GL_RGB, GL_FLOAT, &((*gmm_image_)[0])); break; case 2: diff --git a/apps/src/manual_registration/manual_registration.cpp b/apps/src/manual_registration/manual_registration.cpp index ff5132abeeb..8e4c4699373 100644 --- a/apps/src/manual_registration/manual_registration.cpp +++ b/apps/src/manual_registration/manual_registration.cpp @@ -38,7 +38,6 @@ * \author: Koen Buys - KU Leuven */ -#include #include #include // for loadPCDFile @@ -46,11 +45,12 @@ #include #include #include +#include #include +#include #include #include -#include using namespace pcl; @@ -73,11 +73,12 @@ ManualRegistration::ManualRegistration() auto renderer_src = vtkSmartPointer::New(); auto renderWindow_src = vtkSmartPointer::New(); renderWindow_src->AddRenderer(renderer_src); - vis_src_.reset(new pcl::visualization::PCLVisualizer(renderer_src, renderWindow_src, "", false)); + vis_src_.reset( + new pcl::visualization::PCLVisualizer(renderer_src, renderWindow_src, "", false)); #else vis_src_.reset(new pcl::visualization::PCLVisualizer("", false)); #endif // VTK_MAJOR_VERSION > 8 - setRenderWindowCompat(*(ui_->qvtk_widget_src),*(vis_src_->getRenderWindow())); + setRenderWindowCompat(*(ui_->qvtk_widget_src), *(vis_src_->getRenderWindow())); vis_src_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget_src)), getRenderWindowCompat(*(ui_->qvtk_widget_src))); @@ -92,7 +93,8 @@ ManualRegistration::ManualRegistration() auto renderer_dst = vtkSmartPointer::New(); auto renderWindow_dst = vtkSmartPointer::New(); renderWindow_dst->AddRenderer(renderer_dst); - vis_dst_.reset(new pcl::visualization::PCLVisualizer(renderer_dst, renderWindow_dst, "", false)); + vis_dst_.reset( + new pcl::visualization::PCLVisualizer(renderer_dst, renderWindow_dst, "", false)); #else vis_dst_.reset(new pcl::visualization::PCLVisualizer("", false)); #endif // VTK_MAJOR_VERSION > 8 @@ -100,15 +102,14 @@ ManualRegistration::ManualRegistration() vis_dst_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget_dst)), getRenderWindowCompat(*(ui_->qvtk_widget_dst))); - vis_dst_->getInteractorStyle()->setKeyboardModifier( - pcl::visualization::INTERACTOR_KB_MOD_SHIFT); + pcl::visualization::INTERACTOR_KB_MOD_SHIFT); vis_dst_->registerPointPickingCallback(&ManualRegistration::DstPointPickCallback, *this); // Render view refreshView(); - + // Connect all buttons connect(ui_->confirmSrcPointButton, SIGNAL(clicked()), @@ -176,8 +177,7 @@ ManualRegistration::confirmSrcPointPressed() { if (src_point_selected_) { src_pc_.push_back(src_point_); - PCL_INFO("Selected %zu source points\n", - static_cast(src_pc_.size())); + PCL_INFO("Selected %zu source points\n", static_cast(src_pc_.size())); src_point_selected_ = false; src_pc_.width = src_pc_.size(); } diff --git a/apps/src/ni_agast.cpp b/apps/src/ni_agast.cpp index 25c038ed178..6793e490d0a 100644 --- a/apps/src/ni_agast.cpp +++ b/apps/src/ni_agast.cpp @@ -221,9 +221,8 @@ class AGASTDemo { std::size_t j = 0; for (std::size_t i = 0; i < keypoints->size(); ++i) { - const PointT& pt = - (*cloud)(static_cast((*keypoints)[i].u), - static_cast((*keypoints)[i].v)); + const PointT& pt = (*cloud)(static_cast((*keypoints)[i].u), + static_cast((*keypoints)[i].v)); if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) continue; diff --git a/apps/src/ni_brisk.cpp b/apps/src/ni_brisk.cpp index 2b17a794e34..274cdf5a8d6 100644 --- a/apps/src/ni_brisk.cpp +++ b/apps/src/ni_brisk.cpp @@ -174,8 +174,7 @@ class BRISKDemo { std::size_t j = 0; for (std::size_t i = 0; i < keypoints->size(); ++i) { - PointT pt = - bilinearInterpolation(cloud, (*keypoints)[i].x, (*keypoints)[i].y); + PointT pt = bilinearInterpolation(cloud, (*keypoints)[i].x, (*keypoints)[i].y); keypoints3d[j].x = pt.x; keypoints3d[j].y = pt.y; diff --git a/apps/src/openni_feature_persistence.cpp b/apps/src/openni_feature_persistence.cpp index 718109d9c3e..17ac919576a 100644 --- a/apps/src/openni_feature_persistence.cpp +++ b/apps/src/openni_feature_persistence.cpp @@ -152,7 +152,8 @@ class OpenNIFeaturePersistence { extract_indices_filter_.setIndices(feature_indices_); extract_indices_filter_.filter(*feature_locations_); - PCL_INFO("Persistent feature locations %zu\n", static_cast(feature_locations_->size())); + PCL_INFO("Persistent feature locations %zu\n", + static_cast(feature_locations_->size())); cloud_ = cloud; diff --git a/apps/src/openni_grab_frame.cpp b/apps/src/openni_grab_frame.cpp index 052231301f8..f61ff619405 100644 --- a/apps/src/openni_grab_frame.cpp +++ b/apps/src/openni_grab_frame.cpp @@ -158,7 +158,7 @@ class OpenNIGrabFrame { { FPS_CALC("I/O"); const std::string time = boost::posix_time::to_iso_string( - boost::posix_time::microsec_clock::local_time()); + boost::posix_time::microsec_clock::local_time()); const std::string filepath = dir_name_ + '/' + file_name_ + '_' + time + ".pcd"; if (format_ & 1) { diff --git a/apps/src/openni_klt.cpp b/apps/src/openni_klt.cpp index 0c37dd93ae2..b553ef59d71 100644 --- a/apps/src/openni_klt.cpp +++ b/apps/src/openni_klt.cpp @@ -44,6 +44,7 @@ #include #include // for to_iso_string, local_time + #include #define SHOW_FPS 1 diff --git a/apps/src/openni_mls_smoothing.cpp b/apps/src/openni_mls_smoothing.cpp index d21d28aa9d3..c451e11bd93 100644 --- a/apps/src/openni_mls_smoothing.cpp +++ b/apps/src/openni_mls_smoothing.cpp @@ -37,12 +37,12 @@ #include #include #include +#include // for KdTree #include #include // for KeyboardEvent #include // for PCLVisualizer #include #include -#include // for KdTree #include diff --git a/apps/src/openni_octree_compression.cpp b/apps/src/openni_octree_compression.cpp index bba10c7ed01..7203f1b2b23 100644 --- a/apps/src/openni_octree_compression.cpp +++ b/apps/src/openni_octree_compression.cpp @@ -383,7 +383,8 @@ main(int argc, char** argv) if (bEnDecode) { // ENCODING std::ofstream compressedPCFile; - compressedPCFile.open(fileName.c_str(), std::ios::out | std::ios::trunc | std::ios::binary); + compressedPCFile.open(fileName.c_str(), + std::ios::out | std::ios::trunc | std::ios::binary); if (!bShowInputCloud) { EventHelper v(compressedPCFile, octreeCoder, field_name, min_v, max_v); diff --git a/apps/src/openni_organized_compression.cpp b/apps/src/openni_organized_compression.cpp index 569bd3bcbee..ae855521875 100644 --- a/apps/src/openni_organized_compression.cpp +++ b/apps/src/openni_organized_compression.cpp @@ -396,7 +396,8 @@ main(int argc, char** argv) if (bEnDecode) { // ENCODING std::ofstream compressedPCFile; - compressedPCFile.open(fileName.c_str(), std::ios::out | std::ios::trunc | std::ios::binary); + compressedPCFile.open(fileName.c_str(), + std::ios::out | std::ios::trunc | std::ios::binary); if (!bShowInputCloud) { EventHelper v(compressedPCFile, diff --git a/apps/src/openni_passthrough.cpp b/apps/src/openni_passthrough.cpp index cf218c978b4..b516e68e59f 100644 --- a/apps/src/openni_passthrough.cpp +++ b/apps/src/openni_passthrough.cpp @@ -35,18 +35,17 @@ * */ -#include - #include #include #include #include #include +#include +#include #include #include -#include #include @@ -64,7 +63,7 @@ OpenNIPassthrough::OpenNIPassthrough(pcl::OpenNIGrabber& grabber) ui_->setupUi(this); this->setWindowTitle("PCL OpenNI PassThrough Viewer"); - //Create the QVTKWidget + // Create the QVTKWidget #if VTK_MAJOR_VERSION > 8 auto renderer = vtkSmartPointer::New(); auto renderWindow = vtkSmartPointer::New(); @@ -73,11 +72,13 @@ OpenNIPassthrough::OpenNIPassthrough(pcl::OpenNIGrabber& grabber) #else vis_.reset(new pcl::visualization::PCLVisualizer("", false)); #endif // VTK_MAJOR_VERSION > 8 - setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow())); - vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget))); - - vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT); - + setRenderWindowCompat(*(ui_->qvtk_widget), *(vis_->getRenderWindow())); + vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), + getRenderWindowCompat(*(ui_->qvtk_widget))); + + vis_->getInteractorStyle()->setKeyboardModifier( + pcl::visualization::INTERACTOR_KB_MOD_SHIFT); + refreshView(); // Start the OpenNI data acquision diff --git a/apps/src/openni_tracking.cpp b/apps/src/openni_tracking.cpp index d03ad24d0d1..ccc6377a218 100644 --- a/apps/src/openni_tracking.cpp +++ b/apps/src/openni_tracking.cpp @@ -468,7 +468,7 @@ class OpenNISegmentTracking { void removeZeroPoints(const CloudConstPtr& cloud, Cloud& result) { - for (const auto& point: *cloud) { + for (const auto& point : *cloud) { if (!(std::abs(point.x) < 0.01 && std::abs(point.y) < 0.01 && std::abs(point.z) < 0.01) && !std::isnan(point.x) && !std::isnan(point.y) && !std::isnan(point.z)) diff --git a/apps/src/organized_segmentation_demo.cpp b/apps/src/organized_segmentation_demo.cpp index 5529eb87d6e..e4ce56193aa 100644 --- a/apps/src/organized_segmentation_demo.cpp +++ b/apps/src/organized_segmentation_demo.cpp @@ -11,9 +11,9 @@ #include #include +#include #include #include -#include // #include // for boost::filesystem::directory_iterator #include // for boost::signals2::connection @@ -206,7 +206,7 @@ OrganizedSegmentationDemo::OrganizedSegmentationDemo(pcl::Grabber& grabber) ui_->setupUi(this); this->setWindowTitle("PCL Organized Connected Component Segmentation Demo"); - + #if VTK_MAJOR_VERSION > 8 auto renderer = vtkSmartPointer::New(); auto renderWindow = vtkSmartPointer::New(); @@ -215,14 +215,14 @@ OrganizedSegmentationDemo::OrganizedSegmentationDemo(pcl::Grabber& grabber) #else vis_.reset(new pcl::visualization::PCLVisualizer("", false)); #endif // VTK_MAJOR_VERSION > 8 - setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow())); - vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget))); - + setRenderWindowCompat(*(ui_->qvtk_widget), *(vis_->getRenderWindow())); + vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), + getRenderWindowCompat(*(ui_->qvtk_widget))); + refreshView(); - + vis_->getInteractorStyle()->setKeyboardModifier( pcl::visualization::INTERACTOR_KB_MOD_SHIFT); - std::function f = [this](const CloudConstPtr& cloud) { cloud_cb(cloud); diff --git a/apps/src/pcd_organized_multi_plane_segmentation.cpp b/apps/src/pcd_organized_multi_plane_segmentation.cpp index 10c1a173cb3..82d4507034d 100644 --- a/apps/src/pcd_organized_multi_plane_segmentation.cpp +++ b/apps/src/pcd_organized_multi_plane_segmentation.cpp @@ -198,13 +198,12 @@ class PCDOrganizedMultiPlaneSegmentation { "approx_plane_%02zu_%03zu", static_cast(i), static_cast(idx)); - viewer.addLine( - (*approx_contour)[idx], - (*approx_contour)[(idx + 1) % approx_contour->size()], - 0.5 * red[i], - 0.5 * grn[i], - 0.5 * blu[i], - name); + viewer.addLine((*approx_contour)[idx], + (*approx_contour)[(idx + 1) % approx_contour->size()], + 0.5 * red[i], + 0.5 * grn[i], + 0.5 * blu[i], + name); } } } diff --git a/apps/src/pcd_select_object_plane.cpp b/apps/src/pcd_select_object_plane.cpp index cb26deb2b0b..b7914d72668 100644 --- a/apps/src/pcd_select_object_plane.cpp +++ b/apps/src/pcd_select_object_plane.cpp @@ -179,9 +179,8 @@ class ObjectSelection { exppd.setInputCloud(cloud); exppd.setIndices(indices_but_the_plane); exppd.setInputPlanarHull(plane_hull); - exppd.setViewPoint((*cloud)[picked_idx].x, - (*cloud)[picked_idx].y, - (*cloud)[picked_idx].z); + exppd.setViewPoint( + (*cloud)[picked_idx].x, (*cloud)[picked_idx].y, (*cloud)[picked_idx].z); exppd.setHeightLimits(0.001, 0.5); // up to half a meter exppd.segment(*points_above_plane); diff --git a/apps/src/pcd_video_player/pcd_video_player.cpp b/apps/src/pcd_video_player/pcd_video_player.cpp index a5d2286dac0..0e90e874379 100644 --- a/apps/src/pcd_video_player/pcd_video_player.cpp +++ b/apps/src/pcd_video_player/pcd_video_player.cpp @@ -35,8 +35,6 @@ * */ -#include - #include #include #include @@ -49,11 +47,12 @@ #include #include #include +#include #include +#include #include #include -#include #include #include @@ -83,7 +82,7 @@ PCDVideoPlayer::PCDVideoPlayer() // Setup the cloud pointer cloud_.reset(new pcl::PointCloud); - //Create the QVTKWidget + // Create the QVTKWidget #if VTK_MAJOR_VERSION > 8 auto renderer = vtkSmartPointer::New(); auto renderWindow = vtkSmartPointer::New(); @@ -92,10 +91,12 @@ PCDVideoPlayer::PCDVideoPlayer() #else vis_.reset(new pcl::visualization::PCLVisualizer("", false)); #endif // VTK_MAJOR_VERSION > 8 - setRenderWindowCompat(*(ui_->qvtk_widget),*(vis_->getRenderWindow())); - vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), getRenderWindowCompat(*(ui_->qvtk_widget))); + setRenderWindowCompat(*(ui_->qvtk_widget), *(vis_->getRenderWindow())); + vis_->setupInteractor(getInteractorCompat(*(ui_->qvtk_widget)), + getRenderWindowCompat(*(ui_->qvtk_widget))); - vis_->getInteractorStyle()->setKeyboardModifier(pcl::visualization::INTERACTOR_KB_MOD_SHIFT); + vis_->getInteractorStyle()->setKeyboardModifier( + pcl::visualization::INTERACTOR_KB_MOD_SHIFT); refreshView(); diff --git a/apps/src/ppf_object_recognition.cpp b/apps/src/ppf_object_recognition.cpp index d0c16d19ed4..e02d9d62b1a 100644 --- a/apps/src/ppf_object_recognition.cpp +++ b/apps/src/ppf_object_recognition.cpp @@ -86,8 +86,7 @@ main(int argc, char** argv) while (cloud_scene->size() > 0.3 * nr_points) { seg.setInputCloud(cloud_scene); seg.segment(*inliers, *coefficients); - PCL_INFO("Plane inliers: %zu\n", - static_cast(inliers->indices.size())); + PCL_INFO("Plane inliers: %zu\n", static_cast(inliers->indices.size())); if (inliers->indices.size() < 50000) break; diff --git a/apps/src/render_views_tesselated_sphere.cpp b/apps/src/render_views_tesselated_sphere.cpp index 002e28c3d12..fd1a7a333d0 100644 --- a/apps/src/render_views_tesselated_sphere.cpp +++ b/apps/src/render_views_tesselated_sphere.cpp @@ -6,14 +6,15 @@ */ #include -#include #include +#include #include #include #include #include #include +#include #include #include #include @@ -27,7 +28,6 @@ #include #include #include -#include #include diff --git a/apps/src/stereo_ground_segmentation.cpp b/apps/src/stereo_ground_segmentation.cpp index ba7a7f8de3d..baabce972a9 100755 --- a/apps/src/stereo_ground_segmentation.cpp +++ b/apps/src/stereo_ground_segmentation.cpp @@ -49,6 +49,7 @@ #include #include #include + #include // for directory_iterator #include @@ -440,8 +441,7 @@ class HRCSSegmentation { // note the NAN points in the image as well for (std::size_t i = 0; i < cloud->size(); i++) { if (!pcl::isFinite((*cloud)[i])) { - (*ground_image)[i].b = - static_cast(((*cloud)[i].b + 255) / 2); + (*ground_image)[i].b = static_cast(((*cloud)[i].b + 255) / 2); (*label_image)[i].r = 0; (*label_image)[i].g = 0; (*label_image)[i].b = 255;